Upload folder using huggingface_hub (part 70)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_85_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_86_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_87_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_88_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_89_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_8_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_90_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_91_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_92_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_93_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_94_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_95_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_96_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_97_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_98_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_99_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_9_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/summary.json +9 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0000.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0001.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0002.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0003.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0004.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0005.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0006.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0007.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0008.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0009.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0010.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0011.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0012.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0013.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0014.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0015.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0016.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0017.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0018.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0019.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0020.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0021.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0022.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0023.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0024.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0025.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0026.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0027.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0028.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0029.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0030.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00029/dataset/episode_0031.h5 +3 -0
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_85_success.json
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|
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|
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|
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|
| 700 |
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_86_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
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|
|
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|
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|
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|
|
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|
|
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|
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|
|
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|
| 1 |
+
{
|
| 2 |
+
"episode": 86,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.24639006487660245,
|
| 26 |
+
0.2603422432023426,
|
| 27 |
+
1.1570510248062016
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.1570510248062016,
|
| 30 |
+
"required_z": 0.8565865351048797,
|
| 31 |
+
"initial_z": 0.7565865351048797,
|
| 32 |
+
"lift_margin": 0.3004644897013219,
|
| 33 |
+
"gripper_z": 1.1501211419070434,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.24189405904986364,
|
| 38 |
+
0.2557068843531617,
|
| 39 |
+
1.1501211419070434
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004496005826738814,
|
| 43 |
+
0.004635358849180926,
|
| 44 |
+
0.006929882899158191
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006457601726240887,
|
| 47 |
+
"object_to_gripper_z": 0.006929882899158191,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.24639006487660245,
|
| 51 |
+
0.2364812436463246,
|
| 52 |
+
1.1570510248062016
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.23593132915482898,
|
| 56 |
+
0.2603422432023426,
|
| 57 |
+
1.1570510248062016
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2411606970157157,
|
| 61 |
+
0.24841174342433361,
|
| 62 |
+
1.1570510248062016
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0052293678608867356,
|
| 66 |
+
0.011930499778009002,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026052494174458454,
|
| 70 |
+
"fingertip_max_gap": 0.09062123667297442,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013026247087229227,
|
| 74 |
+
"object_to_finger_midpoint_z": 0.0,
|
| 75 |
+
"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.1570510248062016,
|
| 78 |
+
"object_top_z": 1.2025506532696604,
|
| 79 |
+
"finger_top_clearance": 0.045499628463458786,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013649888539037635,
|
| 81 |
+
"object_projection_between_fingers": 0.8388390705923616,
|
| 82 |
+
"object_to_finger_line_xy": 0.009578963409131393,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04781061833648721,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.5708572590718478,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 363,
|
| 96 |
+
"max_stable_success_frames": 363,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
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| 131 |
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"fr3_joint6",
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| 132 |
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"fr3_joint7",
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| 133 |
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"fr3_leftfinger",
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| 134 |
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"fr3_rightfinger",
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| 135 |
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| 136 |
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|
| 137 |
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"gripper",
|
| 138 |
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"gripper_center",
|
| 139 |
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"joint1",
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| 140 |
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"joint2",
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| 141 |
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"joint3",
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| 142 |
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"joint4",
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| 143 |
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"joint5",
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| 144 |
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"joint6",
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| 145 |
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"joint7",
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| 146 |
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"left_inner_finger",
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| 147 |
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"lift2",
|
| 148 |
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"mobile_rotate",
|
| 149 |
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"mobile_translate_x",
|
| 150 |
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"mobile_translate_y",
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| 151 |
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| 152 |
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"panda_joint2",
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 185 |
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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|
| 522 |
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|
| 523 |
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|
| 524 |
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],
|
| 525 |
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"closest_contact_pad_button": [
|
| 526 |
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|
| 527 |
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|
| 528 |
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|
| 529 |
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],
|
| 530 |
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"closest_contact_pad_index": 0,
|
| 531 |
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"closest_contact_pad_minus_button": [
|
| 532 |
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0.0,
|
| 533 |
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0.0,
|
| 534 |
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|
| 535 |
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]
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| 536 |
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},
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| 537 |
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|
| 538 |
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|
| 539 |
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|
| 540 |
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|
| 541 |
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"policy": {
|
| 542 |
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"skill": "press",
|
| 543 |
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"target_object": "heat_button",
|
| 544 |
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"held_object": null,
|
| 545 |
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"allowed_objects": [
|
| 546 |
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"heat_button"
|
| 547 |
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],
|
| 548 |
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"allowed_object_paths": [
|
| 549 |
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"/World/heat_device/button"
|
| 550 |
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],
|
| 551 |
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"allowed_prim_substrings": [],
|
| 552 |
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"robot_prim_substrings": [
|
| 553 |
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"Robotiq2F85",
|
| 554 |
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"Robotiq_2F_85",
|
| 555 |
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"contact_sensor",
|
| 556 |
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"dummy_base_prismatic_x_joint",
|
| 557 |
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"dummy_base_prismatic_y_joint",
|
| 558 |
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"dummy_base_revolute_z_joint",
|
| 559 |
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"elbow_joint",
|
| 560 |
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"festo",
|
| 561 |
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"finger",
|
| 562 |
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"fr3",
|
| 563 |
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"fr3_duo_mobile",
|
| 564 |
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"fr3_joint1",
|
| 565 |
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"fr3_joint2",
|
| 566 |
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"fr3_joint3",
|
| 567 |
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"fr3_joint4",
|
| 568 |
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|
| 569 |
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"fr3_joint6",
|
| 570 |
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"fr3_joint7",
|
| 571 |
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"fr3_leftfinger",
|
| 572 |
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"fr3_rightfinger",
|
| 573 |
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|
| 574 |
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|
| 575 |
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|
| 576 |
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|
| 577 |
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|
| 578 |
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|
| 579 |
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|
| 580 |
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"joint4",
|
| 581 |
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|
| 582 |
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"joint6",
|
| 583 |
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"joint7",
|
| 584 |
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"left_inner_finger",
|
| 585 |
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"lift2",
|
| 586 |
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"mobile_rotate",
|
| 587 |
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"mobile_translate_x",
|
| 588 |
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"mobile_translate_y",
|
| 589 |
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"panda_joint1",
|
| 590 |
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|
| 591 |
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"panda_joint3",
|
| 592 |
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"panda_joint4",
|
| 593 |
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"panda_joint5",
|
| 594 |
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|
| 595 |
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|
| 596 |
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|
| 597 |
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"panda_leftfingertip",
|
| 598 |
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"panda_rightfinger",
|
| 599 |
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"panda_rightfingertip",
|
| 600 |
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|
| 601 |
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"ridgebase_festo",
|
| 602 |
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"ridgebase_fr3",
|
| 603 |
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"ridgebase_rizon4",
|
| 604 |
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"ridgebase_ur16e",
|
| 605 |
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|
| 606 |
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"right_inner_finger",
|
| 607 |
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"rizon4",
|
| 608 |
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|
| 609 |
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"robotiq_2f85",
|
| 610 |
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|
| 611 |
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"shoulder_pan_joint",
|
| 612 |
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|
| 613 |
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"tool_center",
|
| 614 |
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"ur16e",
|
| 615 |
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"ur5e",
|
| 616 |
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"visuals",
|
| 617 |
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"wrist",
|
| 618 |
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"wrist_1_joint",
|
| 619 |
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"wrist_2_joint",
|
| 620 |
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|
| 621 |
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],
|
| 622 |
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"ignored_prim_substrings": [
|
| 623 |
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"base_link",
|
| 624 |
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|
| 625 |
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"defaultgroundplane",
|
| 626 |
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"desk",
|
| 627 |
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"floor",
|
| 628 |
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"ground",
|
| 629 |
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"groundplane",
|
| 630 |
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"link0",
|
| 631 |
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"table",
|
| 632 |
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"wheel",
|
| 633 |
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"workbench"
|
| 634 |
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],
|
| 635 |
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"enabled": true
|
| 636 |
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},
|
| 637 |
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"status": "active",
|
| 638 |
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"passed": true,
|
| 639 |
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"source_missing": false,
|
| 640 |
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|
| 641 |
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|
| 642 |
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|
| 643 |
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"passed": true,
|
| 644 |
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|
| 645 |
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|
| 646 |
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|
| 647 |
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|
| 648 |
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|
| 649 |
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},
|
| 650 |
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"failed_keys": []
|
| 651 |
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}
|
| 652 |
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},
|
| 653 |
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|
| 654 |
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|
| 655 |
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|
| 656 |
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},
|
| 657 |
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"physical_semantics": {
|
| 658 |
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"skill": "press",
|
| 659 |
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"target": "heat_button",
|
| 660 |
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"attach_used": false,
|
| 661 |
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"attach_object": null,
|
| 662 |
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|
| 663 |
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"attach_allowed": false,
|
| 664 |
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"ordinary_object_physical_only": true
|
| 665 |
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}
|
| 666 |
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}
|
| 667 |
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],
|
| 668 |
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"physical_semantics": {
|
| 669 |
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"attach_records": [],
|
| 670 |
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"ordinary_attach_violations": [],
|
| 671 |
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"forbidden_shortcuts_absent": true
|
| 672 |
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},
|
| 673 |
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"h5_episode_index": 86,
|
| 674 |
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"reproducibility": {
|
| 675 |
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"enabled": true,
|
| 676 |
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"action_seed": 1421041467881370917,
|
| 677 |
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"physical_seed": 6425155320322555435,
|
| 678 |
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|
| 679 |
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|
| 680 |
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|
| 681 |
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|
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|
| 684 |
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"workflow_spec_digest": "76e9bcc700de0f14b5a602707b42925ef4ad7231d8e2c9b7d80e5dac90a5593f",
|
| 685 |
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"strict_task_state": false,
|
| 686 |
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|
| 687 |
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|
| 688 |
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|
| 689 |
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|
| 690 |
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"episode_index": 86,
|
| 691 |
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"physical_randomization_enabled": true,
|
| 692 |
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"motion_controller_type": "ik_servo",
|
| 693 |
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"runtime_step_seeds": [
|
| 694 |
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|
| 695 |
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|
| 696 |
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|
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|
| 698 |
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"runtime_workflow_digest": "2c7e4c135ee623b6dac88cf8a961fd651fa880a837ee29a8ac72699e3479700a"
|
| 699 |
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}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_87_success.json
ADDED
|
@@ -0,0 +1,700 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 36 |
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| 37 |
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| 51 |
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| 102 |
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| 111 |
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| 112 |
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| 114 |
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| 115 |
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| 116 |
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| 124 |
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| 129 |
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| 130 |
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| 134 |
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| 135 |
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| 136 |
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| 148 |
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| 149 |
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| 150 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 169 |
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| 170 |
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| 171 |
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| 175 |
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| 176 |
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| 177 |
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| 183 |
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|
| 293 |
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|
| 294 |
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"placed_release_frames": 159,
|
| 295 |
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"max_placed_release_frames": 159
|
| 296 |
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},
|
| 297 |
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"failed_keys": [],
|
| 298 |
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"failure_code": null,
|
| 299 |
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"failure_messages": {},
|
| 300 |
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"safety": {
|
| 301 |
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"policy": {
|
| 302 |
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"skill": "place",
|
| 303 |
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"target_object": "heater_platform",
|
| 304 |
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"held_object": "beaker_b",
|
| 305 |
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"allowed_objects": [
|
| 306 |
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"beaker_b",
|
| 307 |
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"heater_platform"
|
| 308 |
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],
|
| 309 |
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"allowed_object_paths": [
|
| 310 |
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"/World/heat_device/heat_device/heat_device/plat",
|
| 311 |
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"/World/target_beaker"
|
| 312 |
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],
|
| 313 |
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"allowed_prim_substrings": [],
|
| 314 |
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"robot_prim_substrings": [
|
| 315 |
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"Robotiq2F85",
|
| 316 |
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"Robotiq_2F_85",
|
| 317 |
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"contact_sensor",
|
| 318 |
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"dummy_base_prismatic_x_joint",
|
| 319 |
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"dummy_base_prismatic_y_joint",
|
| 320 |
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"dummy_base_revolute_z_joint",
|
| 321 |
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"elbow_joint",
|
| 322 |
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"festo",
|
| 323 |
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"finger",
|
| 324 |
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"fr3",
|
| 325 |
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"fr3_duo_mobile",
|
| 326 |
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"fr3_joint1",
|
| 327 |
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"fr3_joint2",
|
| 328 |
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"fr3_joint3",
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| 329 |
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"fr3_joint4",
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| 330 |
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"fr3_joint5",
|
| 331 |
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"fr3_joint6",
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| 332 |
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"fr3_joint7",
|
| 333 |
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"fr3_leftfinger",
|
| 334 |
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"fr3_rightfinger",
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| 335 |
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"franka",
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| 336 |
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"geometry",
|
| 337 |
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"gripper",
|
| 338 |
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"gripper_center",
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| 339 |
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"joint1",
|
| 340 |
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"joint2",
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| 341 |
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"joint3",
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| 342 |
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"joint4",
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| 343 |
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"joint5",
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| 344 |
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"joint6",
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| 345 |
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"joint7",
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| 346 |
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"left_inner_finger",
|
| 347 |
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"lift2",
|
| 348 |
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"mobile_rotate",
|
| 349 |
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"mobile_translate_x",
|
| 350 |
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"mobile_translate_y",
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| 351 |
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"panda_joint1",
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| 352 |
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"panda_joint2",
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| 353 |
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"panda_joint3",
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| 354 |
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"panda_joint4",
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| 355 |
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"panda_joint5",
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| 356 |
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"panda_joint6",
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| 357 |
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"panda_joint7",
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| 358 |
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"panda_leftfinger",
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| 359 |
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"panda_leftfingertip",
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| 360 |
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"panda_rightfinger",
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| 361 |
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"panda_rightfingertip",
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| 362 |
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"ridgebase",
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| 363 |
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"ridgebase_festo",
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| 364 |
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"ridgebase_fr3",
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| 365 |
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"ridgebase_rizon4",
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| 366 |
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"ridgebase_ur16e",
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| 367 |
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"ridgebase_ur5e",
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| 368 |
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"right_inner_finger",
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| 369 |
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"rizon4",
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| 370 |
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"robot",
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| 371 |
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"robotiq_2f85",
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| 372 |
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| 373 |
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"shoulder_pan_joint",
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| 374 |
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"split_aloha",
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| 375 |
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"tool_center",
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| 376 |
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"ur16e",
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| 377 |
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"ur5e",
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| 378 |
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"visuals",
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| 379 |
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"wrist",
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| 380 |
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"wrist_1_joint",
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| 381 |
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"wrist_2_joint",
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| 382 |
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"wrist_3_joint"
|
| 383 |
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],
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| 385 |
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"base_link",
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| 386 |
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| 387 |
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"defaultgroundplane",
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| 388 |
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"desk",
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| 389 |
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"floor",
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| 390 |
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"ground",
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| 391 |
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"groundplane",
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| 392 |
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"link0",
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| 393 |
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"table",
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| 394 |
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"wheel",
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| 395 |
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"workbench"
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| 396 |
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],
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| 397 |
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},
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],
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},
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}
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}
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],
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},
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+
"episode_index": 87,
|
| 691 |
+
"physical_randomization_enabled": true,
|
| 692 |
+
"motion_controller_type": "ik_servo",
|
| 693 |
+
"runtime_step_seeds": [
|
| 694 |
+
6877381590794877550,
|
| 695 |
+
7968072635520989123,
|
| 696 |
+
2549783545291825864
|
| 697 |
+
],
|
| 698 |
+
"runtime_workflow_digest": "2c7e4c135ee623b6dac88cf8a961fd651fa880a837ee29a8ac72699e3479700a"
|
| 699 |
+
}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_88_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 88,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2474560830708526,
|
| 26 |
+
0.2645434214158781,
|
| 27 |
+
1.1550947493325083
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.1550947493325083,
|
| 30 |
+
"required_z": 0.8565865748753291,
|
| 31 |
+
"initial_z": 0.7565865748753291,
|
| 32 |
+
"lift_margin": 0.29850817445717925,
|
| 33 |
+
"gripper_z": 1.1482429914003969,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.24276025269183346,
|
| 38 |
+
0.25983181222027774,
|
| 39 |
+
1.1482429914003969
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004695830379019134,
|
| 43 |
+
0.004711609195600375,
|
| 44 |
+
0.0068517579321114574
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006652073673718969,
|
| 47 |
+
"object_to_gripper_z": 0.0068517579321114574,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2474560830708526,
|
| 51 |
+
0.24065862421946763,
|
| 52 |
+
1.1550947493325083
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2367399533380865,
|
| 56 |
+
0.2645434214158781,
|
| 57 |
+
1.1550947493325083
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.24209801820446955,
|
| 61 |
+
0.2526010228176729,
|
| 62 |
+
1.1550947493325083
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005358064866383044,
|
| 66 |
+
0.011942398598205228,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02617859762407321,
|
| 70 |
+
"fingertip_max_gap": 0.0905388342339562,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
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|
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|
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|
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}
|
| 700 |
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_89_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 89,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
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"step_accuracy": "3/3",
|
| 7 |
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"step_details": [
|
| 8 |
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{
|
| 9 |
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"step_index": 0,
|
| 10 |
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"skill": "pick",
|
| 11 |
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"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
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"object_position": [
|
| 25 |
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0.24994010368843833,
|
| 26 |
+
0.26331192516316465,
|
| 27 |
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1.1546479804837555
|
| 28 |
+
],
|
| 29 |
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"current_z": 1.1546479804837555,
|
| 30 |
+
"required_z": 0.8565865924718105,
|
| 31 |
+
"initial_z": 0.7565865924718105,
|
| 32 |
+
"lift_margin": 0.29806138801194504,
|
| 33 |
+
"gripper_z": 1.1477199853874667,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
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"virtual_attach_allowed": false,
|
| 36 |
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"gripper_position": [
|
| 37 |
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0.24531155651651845,
|
| 38 |
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|
| 39 |
+
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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],
|
| 46 |
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|
| 47 |
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"object_to_gripper_z": 0.00692799509628883,
|
| 48 |
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"fingertip_source": "active_contact_pad_positions",
|
| 49 |
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"finger_a": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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| 58 |
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],
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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],
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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0.0
|
| 68 |
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],
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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"require_object_upright": true,
|
| 87 |
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"object_upright_reference_source": "scene_initial",
|
| 88 |
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"object_tilt_deg": 0.552088463909721,
|
| 89 |
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|
| 90 |
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"object_upright_axis_local": [
|
| 91 |
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0.0,
|
| 92 |
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0.0,
|
| 93 |
+
1.0
|
| 94 |
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],
|
| 95 |
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"stable_success_frames": 361,
|
| 96 |
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"max_stable_success_frames": 361,
|
| 97 |
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"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
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"failed_keys": [],
|
| 100 |
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"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
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"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
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"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
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"joint1",
|
| 140 |
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"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
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"wrist_3_joint"
|
| 183 |
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],
|
| 184 |
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"ignored_prim_substrings": [
|
| 185 |
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"base_link",
|
| 186 |
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"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
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},
|
| 199 |
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"status": "active",
|
| 200 |
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"passed": true,
|
| 201 |
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"source_missing": false,
|
| 202 |
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"forbidden": [],
|
| 203 |
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"disturbances": [],
|
| 204 |
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"last_frame": {
|
| 205 |
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"passed": true,
|
| 206 |
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"source_missing": false,
|
| 207 |
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"forbidden": [],
|
| 208 |
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"allowed": [
|
| 209 |
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{
|
| 210 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/target_beaker/mesh"
|
| 212 |
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},
|
| 213 |
+
{
|
| 214 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
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],
|
| 218 |
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"ignored": [],
|
| 219 |
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"failed_keys": []
|
| 220 |
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},
|
| 221 |
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"failed_keys": []
|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
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"gripper": null,
|
| 225 |
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"post_done_wait_frames": 0,
|
| 226 |
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"post_done_wait_exhausted": false
|
| 227 |
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},
|
| 228 |
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"physical_semantics": {
|
| 229 |
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"skill": "pick",
|
| 230 |
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"target": "beaker_b",
|
| 231 |
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"attach_used": false,
|
| 232 |
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|
| 233 |
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|
| 234 |
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"attach_allowed": false,
|
| 235 |
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| 236 |
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],
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|
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|
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],
|
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|
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|
| 628 |
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"ground",
|
| 629 |
+
"groundplane",
|
| 630 |
+
"link0",
|
| 631 |
+
"table",
|
| 632 |
+
"wheel",
|
| 633 |
+
"workbench"
|
| 634 |
+
],
|
| 635 |
+
"enabled": true
|
| 636 |
+
},
|
| 637 |
+
"status": "active",
|
| 638 |
+
"passed": true,
|
| 639 |
+
"source_missing": false,
|
| 640 |
+
"forbidden": [],
|
| 641 |
+
"disturbances": [],
|
| 642 |
+
"last_frame": {
|
| 643 |
+
"passed": true,
|
| 644 |
+
"source_missing": false,
|
| 645 |
+
"forbidden": [],
|
| 646 |
+
"allowed": [],
|
| 647 |
+
"ignored": [],
|
| 648 |
+
"failed_keys": []
|
| 649 |
+
},
|
| 650 |
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"failed_keys": []
|
| 651 |
+
}
|
| 652 |
+
},
|
| 653 |
+
"gripper": null,
|
| 654 |
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"post_done_wait_frames": 0,
|
| 655 |
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"post_done_wait_exhausted": false
|
| 656 |
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},
|
| 657 |
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"physical_semantics": {
|
| 658 |
+
"skill": "press",
|
| 659 |
+
"target": "heat_button",
|
| 660 |
+
"attach_used": false,
|
| 661 |
+
"attach_object": null,
|
| 662 |
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"attach_object_path": null,
|
| 663 |
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"attach_allowed": false,
|
| 664 |
+
"ordinary_object_physical_only": true
|
| 665 |
+
}
|
| 666 |
+
}
|
| 667 |
+
],
|
| 668 |
+
"physical_semantics": {
|
| 669 |
+
"attach_records": [],
|
| 670 |
+
"ordinary_attach_violations": [],
|
| 671 |
+
"forbidden_shortcuts_absent": true
|
| 672 |
+
},
|
| 673 |
+
"h5_episode_index": 89,
|
| 674 |
+
"reproducibility": {
|
| 675 |
+
"enabled": true,
|
| 676 |
+
"action_seed": 1421041467881370917,
|
| 677 |
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"physical_seed": 6425155320322555435,
|
| 678 |
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"layout_id": "layout_00028",
|
| 679 |
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"step_seeds": [
|
| 680 |
+
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"workflow_spec_digest": "76e9bcc700de0f14b5a602707b42925ef4ad7231d8e2c9b7d80e5dac90a5593f",
|
| 685 |
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"strict_task_state": false,
|
| 686 |
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"allow_physical_randomization": true,
|
| 687 |
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"seed_source": "workflow.reproducibility",
|
| 688 |
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"task_island_state_digest": "8dec494a0da582d4f5e025c6dd6b2562afe616f27bbd0a0f5978e4e8c5f8e0c1",
|
| 689 |
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"visual_seed": 5540844145068142915,
|
| 690 |
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"episode_index": 89,
|
| 691 |
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"physical_randomization_enabled": true,
|
| 692 |
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"motion_controller_type": "ik_servo",
|
| 693 |
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"runtime_step_seeds": [
|
| 694 |
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|
| 695 |
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|
| 696 |
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|
| 697 |
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],
|
| 698 |
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"runtime_workflow_digest": "2c7e4c135ee623b6dac88cf8a961fd651fa880a837ee29a8ac72699e3479700a"
|
| 699 |
+
}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_8_success.json
ADDED
|
@@ -0,0 +1,700 @@
|
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|
| 1 |
+
{
|
| 2 |
+
"episode": 8,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
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|
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_90_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 90,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2468829504298388,
|
| 26 |
+
0.25778396925679253,
|
| 27 |
+
1.1571737127786783
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.1571737127786783,
|
| 30 |
+
"required_z": 0.8565866812118649,
|
| 31 |
+
"initial_z": 0.7565866812118649,
|
| 32 |
+
"lift_margin": 0.30058703156681343,
|
| 33 |
+
"gripper_z": 1.1502521772632377,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.24236852593313124,
|
| 38 |
+
0.25320455626292204,
|
| 39 |
+
1.1502521772632377
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004514424496707553,
|
| 43 |
+
0.004579412993870491,
|
| 44 |
+
0.006921535515440613
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006430478357393262,
|
| 47 |
+
"object_to_gripper_z": 0.006921535515440613,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2468829504298388,
|
| 51 |
+
0.23385718764955296,
|
| 52 |
+
1.1571737127786783
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.23657512372716644,
|
| 56 |
+
0.25778396925679253,
|
| 57 |
+
1.1571737127786783
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.24172903707850263,
|
| 61 |
+
0.24582057845317273,
|
| 62 |
+
1.1571737127786783
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005153913351336165,
|
| 66 |
+
0.0119633908036198,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026052680656947054,
|
| 70 |
+
"fingertip_max_gap": 0.09050144840428834,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013026340328473534,
|
| 74 |
+
"object_to_finger_midpoint_z": 0.0,
|
| 75 |
+
"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.1571737127786783,
|
| 78 |
+
"object_top_z": 1.2026620111233943,
|
| 79 |
+
"finger_top_clearance": 0.045488298344716016,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013646489503414837,
|
| 81 |
+
"object_projection_between_fingers": 0.8434585382778905,
|
| 82 |
+
"object_to_finger_line_xy": 0.0094667079218333,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04775072420214417,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.5040729826828769,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 365,
|
| 96 |
+
"max_stable_success_frames": 365,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
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|
| 559 |
+
"elbow_joint",
|
| 560 |
+
"festo",
|
| 561 |
+
"finger",
|
| 562 |
+
"fr3",
|
| 563 |
+
"fr3_duo_mobile",
|
| 564 |
+
"fr3_joint1",
|
| 565 |
+
"fr3_joint2",
|
| 566 |
+
"fr3_joint3",
|
| 567 |
+
"fr3_joint4",
|
| 568 |
+
"fr3_joint5",
|
| 569 |
+
"fr3_joint6",
|
| 570 |
+
"fr3_joint7",
|
| 571 |
+
"fr3_leftfinger",
|
| 572 |
+
"fr3_rightfinger",
|
| 573 |
+
"franka",
|
| 574 |
+
"geometry",
|
| 575 |
+
"gripper",
|
| 576 |
+
"gripper_center",
|
| 577 |
+
"joint1",
|
| 578 |
+
"joint2",
|
| 579 |
+
"joint3",
|
| 580 |
+
"joint4",
|
| 581 |
+
"joint5",
|
| 582 |
+
"joint6",
|
| 583 |
+
"joint7",
|
| 584 |
+
"left_inner_finger",
|
| 585 |
+
"lift2",
|
| 586 |
+
"mobile_rotate",
|
| 587 |
+
"mobile_translate_x",
|
| 588 |
+
"mobile_translate_y",
|
| 589 |
+
"panda_joint1",
|
| 590 |
+
"panda_joint2",
|
| 591 |
+
"panda_joint3",
|
| 592 |
+
"panda_joint4",
|
| 593 |
+
"panda_joint5",
|
| 594 |
+
"panda_joint6",
|
| 595 |
+
"panda_joint7",
|
| 596 |
+
"panda_leftfinger",
|
| 597 |
+
"panda_leftfingertip",
|
| 598 |
+
"panda_rightfinger",
|
| 599 |
+
"panda_rightfingertip",
|
| 600 |
+
"ridgebase",
|
| 601 |
+
"ridgebase_festo",
|
| 602 |
+
"ridgebase_fr3",
|
| 603 |
+
"ridgebase_rizon4",
|
| 604 |
+
"ridgebase_ur16e",
|
| 605 |
+
"ridgebase_ur5e",
|
| 606 |
+
"right_inner_finger",
|
| 607 |
+
"rizon4",
|
| 608 |
+
"robot",
|
| 609 |
+
"robotiq_2f85",
|
| 610 |
+
"shoulder_lift_joint",
|
| 611 |
+
"shoulder_pan_joint",
|
| 612 |
+
"split_aloha",
|
| 613 |
+
"tool_center",
|
| 614 |
+
"ur16e",
|
| 615 |
+
"ur5e",
|
| 616 |
+
"visuals",
|
| 617 |
+
"wrist",
|
| 618 |
+
"wrist_1_joint",
|
| 619 |
+
"wrist_2_joint",
|
| 620 |
+
"wrist_3_joint"
|
| 621 |
+
],
|
| 622 |
+
"ignored_prim_substrings": [
|
| 623 |
+
"base_link",
|
| 624 |
+
"caster",
|
| 625 |
+
"defaultgroundplane",
|
| 626 |
+
"desk",
|
| 627 |
+
"floor",
|
| 628 |
+
"ground",
|
| 629 |
+
"groundplane",
|
| 630 |
+
"link0",
|
| 631 |
+
"table",
|
| 632 |
+
"wheel",
|
| 633 |
+
"workbench"
|
| 634 |
+
],
|
| 635 |
+
"enabled": true
|
| 636 |
+
},
|
| 637 |
+
"status": "active",
|
| 638 |
+
"passed": true,
|
| 639 |
+
"source_missing": false,
|
| 640 |
+
"forbidden": [],
|
| 641 |
+
"disturbances": [],
|
| 642 |
+
"last_frame": {
|
| 643 |
+
"passed": true,
|
| 644 |
+
"source_missing": false,
|
| 645 |
+
"forbidden": [],
|
| 646 |
+
"allowed": [],
|
| 647 |
+
"ignored": [],
|
| 648 |
+
"failed_keys": []
|
| 649 |
+
},
|
| 650 |
+
"failed_keys": []
|
| 651 |
+
}
|
| 652 |
+
},
|
| 653 |
+
"gripper": null,
|
| 654 |
+
"post_done_wait_frames": 0,
|
| 655 |
+
"post_done_wait_exhausted": false
|
| 656 |
+
},
|
| 657 |
+
"physical_semantics": {
|
| 658 |
+
"skill": "press",
|
| 659 |
+
"target": "heat_button",
|
| 660 |
+
"attach_used": false,
|
| 661 |
+
"attach_object": null,
|
| 662 |
+
"attach_object_path": null,
|
| 663 |
+
"attach_allowed": false,
|
| 664 |
+
"ordinary_object_physical_only": true
|
| 665 |
+
}
|
| 666 |
+
}
|
| 667 |
+
],
|
| 668 |
+
"physical_semantics": {
|
| 669 |
+
"attach_records": [],
|
| 670 |
+
"ordinary_attach_violations": [],
|
| 671 |
+
"forbidden_shortcuts_absent": true
|
| 672 |
+
},
|
| 673 |
+
"h5_episode_index": 90,
|
| 674 |
+
"reproducibility": {
|
| 675 |
+
"enabled": true,
|
| 676 |
+
"action_seed": 1421041467881370917,
|
| 677 |
+
"physical_seed": 6425155320322555435,
|
| 678 |
+
"layout_id": "layout_00028",
|
| 679 |
+
"step_seeds": [
|
| 680 |
+
6877381590794877550,
|
| 681 |
+
7968072635520989123,
|
| 682 |
+
2549783545291825864
|
| 683 |
+
],
|
| 684 |
+
"workflow_spec_digest": "76e9bcc700de0f14b5a602707b42925ef4ad7231d8e2c9b7d80e5dac90a5593f",
|
| 685 |
+
"strict_task_state": false,
|
| 686 |
+
"allow_physical_randomization": true,
|
| 687 |
+
"seed_source": "workflow.reproducibility",
|
| 688 |
+
"task_island_state_digest": "1cf543eda304ce1829b4e96f3db6eb9b7ad9c33164a76db08c867a43f889354a",
|
| 689 |
+
"visual_seed": 7202606024694618555,
|
| 690 |
+
"episode_index": 90,
|
| 691 |
+
"physical_randomization_enabled": true,
|
| 692 |
+
"motion_controller_type": "ik_servo",
|
| 693 |
+
"runtime_step_seeds": [
|
| 694 |
+
6877381590794877550,
|
| 695 |
+
7968072635520989123,
|
| 696 |
+
2549783545291825864
|
| 697 |
+
],
|
| 698 |
+
"runtime_workflow_digest": "2c7e4c135ee623b6dac88cf8a961fd651fa880a837ee29a8ac72699e3479700a"
|
| 699 |
+
}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_91_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
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|
| 700 |
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_92_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"episode": 92,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.24886064543565034,
|
| 26 |
+
0.2639427151859158,
|
| 27 |
+
1.1566214163496562
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.1566214163496562,
|
| 30 |
+
"required_z": 0.8565866313950051,
|
| 31 |
+
"initial_z": 0.7565866313950051,
|
| 32 |
+
"lift_margin": 0.3000347849546511,
|
| 33 |
+
"gripper_z": 1.1497023828053854,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.24426457416110614,
|
| 38 |
+
0.2592159148434134,
|
| 39 |
+
1.1497023828053854
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0045960712745442,
|
| 43 |
+
0.004726800342502391,
|
| 44 |
+
0.006919033544270814
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006592913820047329,
|
| 47 |
+
"object_to_gripper_z": 0.006919033544270814,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.24886064543565034,
|
| 51 |
+
0.2402017069695689,
|
| 52 |
+
1.1566214163496562
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.23802147063342574,
|
| 56 |
+
0.2639427151859158,
|
| 57 |
+
1.1566214163496562
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.24344105803453803,
|
| 61 |
+
0.25207221107774236,
|
| 62 |
+
1.1566214163496562
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0054195874011123135,
|
| 66 |
+
0.011870504108173419,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026098336757767345,
|
| 70 |
+
"fingertip_max_gap": 0.09045822320830943,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013049168378883664,
|
| 74 |
+
"object_to_finger_midpoint_z": 0.0,
|
| 75 |
+
"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.1566214163496562,
|
| 78 |
+
"object_top_z": 1.2021050343736712,
|
| 79 |
+
"finger_top_clearance": 0.045483618024015016,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013645085407204504,
|
| 81 |
+
"object_projection_between_fingers": 0.8275088653851445,
|
| 82 |
+
"object_to_finger_line_xy": 0.009860127885791313,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04772911160415472,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.5154563731250446,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 366,
|
| 96 |
+
"max_stable_success_frames": 366,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
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| 496 |
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| 497 |
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| 498 |
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| 499 |
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|
| 500 |
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| 504 |
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|
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|
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|
| 540 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 550 |
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|
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|
| 552 |
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|
| 553 |
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|
| 554 |
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|
| 555 |
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|
| 556 |
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|
| 557 |
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|
| 558 |
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|
| 559 |
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|
| 560 |
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|
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|
| 562 |
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|
| 563 |
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|
| 564 |
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|
| 565 |
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|
| 566 |
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|
| 567 |
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|
| 568 |
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|
| 569 |
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|
| 570 |
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|
| 571 |
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|
| 572 |
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|
| 573 |
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|
| 574 |
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|
| 575 |
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|
| 576 |
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|
| 577 |
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|
| 578 |
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|
| 579 |
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|
| 580 |
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|
| 581 |
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|
| 582 |
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|
| 583 |
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|
| 584 |
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|
| 585 |
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|
| 586 |
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|
| 587 |
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|
| 588 |
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|
| 589 |
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|
| 590 |
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|
| 591 |
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|
| 592 |
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|
| 593 |
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|
| 594 |
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|
| 595 |
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|
| 596 |
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|
| 597 |
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|
| 598 |
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|
| 599 |
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|
| 600 |
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|
| 601 |
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|
| 602 |
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|
| 603 |
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|
| 604 |
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|
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|
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|
| 609 |
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|
| 610 |
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|
| 611 |
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|
| 612 |
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|
| 613 |
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|
| 614 |
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|
| 615 |
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|
| 616 |
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|
| 617 |
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|
| 618 |
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|
| 619 |
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|
| 620 |
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|
| 621 |
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|
| 622 |
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|
| 623 |
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"base_link",
|
| 624 |
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|
| 625 |
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|
| 626 |
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|
| 627 |
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|
| 628 |
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|
| 629 |
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| 630 |
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|
| 631 |
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| 632 |
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|
| 633 |
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|
| 634 |
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|
| 635 |
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|
| 636 |
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|
| 637 |
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|
| 638 |
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|
| 639 |
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| 640 |
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| 641 |
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| 642 |
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| 643 |
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| 645 |
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|
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|
| 655 |
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|
| 656 |
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|
| 657 |
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|
| 658 |
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"skill": "press",
|
| 659 |
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"target": "heat_button",
|
| 660 |
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|
| 661 |
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|
| 662 |
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|
| 663 |
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|
| 664 |
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|
| 665 |
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}
|
| 666 |
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}
|
| 667 |
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],
|
| 668 |
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"physical_semantics": {
|
| 669 |
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|
| 670 |
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|
| 671 |
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|
| 672 |
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},
|
| 673 |
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"h5_episode_index": 92,
|
| 674 |
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|
| 675 |
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"enabled": true,
|
| 676 |
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|
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|
| 685 |
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|
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|
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|
| 691 |
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|
| 692 |
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|
| 693 |
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|
| 695 |
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|
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|
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|
| 699 |
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}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_93_success.json
ADDED
|
@@ -0,0 +1,700 @@
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| 1 |
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{
|
| 2 |
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| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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|
| 23 |
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| 24 |
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|
| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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|
| 31 |
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| 32 |
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| 33 |
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|
| 34 |
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| 35 |
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| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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|
| 51 |
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| 52 |
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| 56 |
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| 63 |
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 98 |
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| 99 |
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| 100 |
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|
| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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| 117 |
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|
| 118 |
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|
| 119 |
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| 120 |
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| 121 |
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| 122 |
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|
| 123 |
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| 124 |
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|
| 125 |
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| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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| 130 |
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| 131 |
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| 132 |
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|
| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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|
| 146 |
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| 147 |
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"lift2",
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| 148 |
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"mobile_rotate",
|
| 149 |
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"mobile_translate_x",
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| 150 |
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"mobile_translate_y",
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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"panda_leftfinger",
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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"rizon4",
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| 170 |
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| 171 |
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| 172 |
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|
| 173 |
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| 174 |
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|
| 175 |
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| 176 |
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|
| 177 |
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"ur5e",
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| 178 |
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| 179 |
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| 180 |
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|
| 181 |
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|
| 182 |
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| 183 |
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],
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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],
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| 197 |
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| 198 |
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| 199 |
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| 200 |
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| 201 |
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| 203 |
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{
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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| 211 |
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| 212 |
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},
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| 213 |
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{
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| 214 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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| 215 |
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| 216 |
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}
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| 227 |
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},
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| 231 |
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| 236 |
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}
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| 237 |
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},
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| 238 |
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{
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| 239 |
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|
| 240 |
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| 242 |
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| 243 |
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| 244 |
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| 246 |
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| 247 |
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| 248 |
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| 249 |
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| 250 |
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| 251 |
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| 252 |
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|
| 253 |
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|
| 274 |
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| 275 |
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|
| 276 |
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| 286 |
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| 287 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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},
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| 297 |
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| 298 |
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| 299 |
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| 300 |
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|
| 301 |
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"policy": {
|
| 302 |
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"skill": "place",
|
| 303 |
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|
| 304 |
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"held_object": "beaker_b",
|
| 305 |
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|
| 306 |
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"beaker_b",
|
| 307 |
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"heater_platform"
|
| 308 |
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],
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| 309 |
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|
| 310 |
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"/World/heat_device/heat_device/heat_device/plat",
|
| 311 |
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"/World/target_beaker"
|
| 312 |
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],
|
| 313 |
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| 314 |
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|
| 315 |
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"Robotiq2F85",
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| 316 |
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"Robotiq_2F_85",
|
| 317 |
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"contact_sensor",
|
| 318 |
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| 319 |
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"dummy_base_prismatic_y_joint",
|
| 320 |
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|
| 321 |
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"elbow_joint",
|
| 322 |
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"festo",
|
| 323 |
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"finger",
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| 324 |
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"fr3",
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| 325 |
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"fr3_duo_mobile",
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| 326 |
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| 327 |
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"fr3_joint2",
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| 328 |
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"fr3_joint3",
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| 329 |
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| 330 |
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"fr3_joint5",
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| 331 |
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"fr3_joint6",
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| 332 |
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| 333 |
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"fr3_leftfinger",
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| 334 |
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"fr3_rightfinger",
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| 335 |
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| 336 |
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| 338 |
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"gripper_center",
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| 340 |
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"joint2",
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| 341 |
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"joint3",
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| 342 |
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| 343 |
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"joint5",
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| 344 |
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"joint6",
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| 345 |
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"joint7",
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| 346 |
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"left_inner_finger",
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| 347 |
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"lift2",
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| 348 |
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"mobile_rotate",
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| 349 |
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"mobile_translate_x",
|
| 350 |
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"mobile_translate_y",
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| 351 |
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"panda_joint1",
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| 352 |
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"panda_joint2",
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| 353 |
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"panda_joint3",
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| 354 |
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"panda_joint4",
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| 356 |
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"panda_joint7",
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| 358 |
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"panda_leftfinger",
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| 359 |
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| 360 |
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"panda_rightfinger",
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| 361 |
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| 362 |
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| 363 |
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"ridgebase_festo",
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| 364 |
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"ridgebase_fr3",
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"ridgebase_rizon4",
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| 366 |
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"ridgebase_ur16e",
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"ridgebase_ur5e",
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| 368 |
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"right_inner_finger",
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| 369 |
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"rizon4",
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| 370 |
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"robot",
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| 371 |
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"robotiq_2f85",
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| 372 |
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| 373 |
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"shoulder_pan_joint",
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| 374 |
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"split_aloha",
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| 375 |
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"tool_center",
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| 376 |
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"ur16e",
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| 377 |
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"ur5e",
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| 378 |
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"visuals",
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| 379 |
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"wrist",
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| 380 |
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"wrist_1_joint",
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| 381 |
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"wrist_2_joint",
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| 382 |
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"wrist_3_joint"
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| 383 |
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],
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"base_link",
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"desk",
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| 389 |
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"floor",
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"groundplane",
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"link0",
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"table",
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],
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},
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},
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}
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},
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{
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"heat_button"
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],
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],
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|
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],
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|
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],
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},
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|
| 655 |
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|
| 656 |
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},
|
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|
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|
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|
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|
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|
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}
|
| 666 |
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}
|
| 667 |
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],
|
| 668 |
+
"physical_semantics": {
|
| 669 |
+
"attach_records": [],
|
| 670 |
+
"ordinary_attach_violations": [],
|
| 671 |
+
"forbidden_shortcuts_absent": true
|
| 672 |
+
},
|
| 673 |
+
"h5_episode_index": 93,
|
| 674 |
+
"reproducibility": {
|
| 675 |
+
"enabled": true,
|
| 676 |
+
"action_seed": 1421041467881370917,
|
| 677 |
+
"physical_seed": 6425155320322555435,
|
| 678 |
+
"layout_id": "layout_00028",
|
| 679 |
+
"step_seeds": [
|
| 680 |
+
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|
| 681 |
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|
| 682 |
+
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|
| 683 |
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],
|
| 684 |
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"workflow_spec_digest": "76e9bcc700de0f14b5a602707b42925ef4ad7231d8e2c9b7d80e5dac90a5593f",
|
| 685 |
+
"strict_task_state": false,
|
| 686 |
+
"allow_physical_randomization": true,
|
| 687 |
+
"seed_source": "workflow.reproducibility",
|
| 688 |
+
"task_island_state_digest": "275b18c295693f0ea336217c4952b29484c700abf4bbb1c0929747d882024c9d",
|
| 689 |
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"visual_seed": 8676999411696897796,
|
| 690 |
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"episode_index": 93,
|
| 691 |
+
"physical_randomization_enabled": true,
|
| 692 |
+
"motion_controller_type": "ik_servo",
|
| 693 |
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"runtime_step_seeds": [
|
| 694 |
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|
| 695 |
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|
| 696 |
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|
| 697 |
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],
|
| 698 |
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"runtime_workflow_digest": "2c7e4c135ee623b6dac88cf8a961fd651fa880a837ee29a8ac72699e3479700a"
|
| 699 |
+
}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_94_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 94,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2530954841690992,
|
| 26 |
+
0.26228601796235274,
|
| 27 |
+
1.1580218887099376
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.1580218887099376,
|
| 30 |
+
"required_z": 0.8565865448435269,
|
| 31 |
+
"initial_z": 0.7565865448435269,
|
| 32 |
+
"lift_margin": 0.3014353438664107,
|
| 33 |
+
"gripper_z": 1.1511173462336632,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.24847731241191706,
|
| 38 |
+
0.2576521856411576,
|
| 39 |
+
1.1511173462336632
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0046181717571821546,
|
| 43 |
+
0.0046338323211951304,
|
| 44 |
+
0.006904542476274367
|
| 45 |
+
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}
|
| 700 |
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_95_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 95,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2516475288612072,
|
| 26 |
+
0.2618747625146992,
|
| 27 |
+
1.1587835095940269
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.1587835095940269,
|
| 30 |
+
"required_z": 0.8565865790205184,
|
| 31 |
+
"initial_z": 0.7565865790205184,
|
| 32 |
+
"lift_margin": 0.3021969305735085,
|
| 33 |
+
"gripper_z": 1.1518711132369919,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.24702105029925683,
|
| 38 |
+
0.2571308546950922,
|
| 39 |
+
1.1518711132369919
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004626478561950392,
|
| 43 |
+
0.004743907819606985,
|
| 44 |
+
0.006912396357035
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006626384027892955,
|
| 47 |
+
"object_to_gripper_z": 0.006912396357035,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2516475288612072,
|
| 51 |
+
0.23811370029531892,
|
| 52 |
+
1.1587835095940269
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.24078368691486995,
|
| 56 |
+
0.2618747625146992,
|
| 57 |
+
1.1587835095940269
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2462156078880386,
|
| 61 |
+
0.24999423140500907,
|
| 62 |
+
1.1587835095940269
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005431920973168636,
|
| 66 |
+
0.011880531109690146,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02612682796721138,
|
| 70 |
+
"fingertip_max_gap": 0.09044123066819729,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01306341398360569,
|
| 74 |
+
"object_to_finger_midpoint_z": 0.0,
|
| 75 |
+
"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.1587835095940269,
|
| 78 |
+
"object_top_z": 1.204259789195353,
|
| 79 |
+
"finger_top_clearance": 0.045476279601326164,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013642883880397848,
|
| 81 |
+
"object_projection_between_fingers": 0.8271005921478646,
|
| 82 |
+
"object_to_finger_line_xy": 0.009880128760842653,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.047720615334098646,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.5220306141341952,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 369,
|
| 96 |
+
"max_stable_success_frames": 369,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
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| 597 |
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"panda_leftfingertip",
|
| 598 |
+
"panda_rightfinger",
|
| 599 |
+
"panda_rightfingertip",
|
| 600 |
+
"ridgebase",
|
| 601 |
+
"ridgebase_festo",
|
| 602 |
+
"ridgebase_fr3",
|
| 603 |
+
"ridgebase_rizon4",
|
| 604 |
+
"ridgebase_ur16e",
|
| 605 |
+
"ridgebase_ur5e",
|
| 606 |
+
"right_inner_finger",
|
| 607 |
+
"rizon4",
|
| 608 |
+
"robot",
|
| 609 |
+
"robotiq_2f85",
|
| 610 |
+
"shoulder_lift_joint",
|
| 611 |
+
"shoulder_pan_joint",
|
| 612 |
+
"split_aloha",
|
| 613 |
+
"tool_center",
|
| 614 |
+
"ur16e",
|
| 615 |
+
"ur5e",
|
| 616 |
+
"visuals",
|
| 617 |
+
"wrist",
|
| 618 |
+
"wrist_1_joint",
|
| 619 |
+
"wrist_2_joint",
|
| 620 |
+
"wrist_3_joint"
|
| 621 |
+
],
|
| 622 |
+
"ignored_prim_substrings": [
|
| 623 |
+
"base_link",
|
| 624 |
+
"caster",
|
| 625 |
+
"defaultgroundplane",
|
| 626 |
+
"desk",
|
| 627 |
+
"floor",
|
| 628 |
+
"ground",
|
| 629 |
+
"groundplane",
|
| 630 |
+
"link0",
|
| 631 |
+
"table",
|
| 632 |
+
"wheel",
|
| 633 |
+
"workbench"
|
| 634 |
+
],
|
| 635 |
+
"enabled": true
|
| 636 |
+
},
|
| 637 |
+
"status": "active",
|
| 638 |
+
"passed": true,
|
| 639 |
+
"source_missing": false,
|
| 640 |
+
"forbidden": [],
|
| 641 |
+
"disturbances": [],
|
| 642 |
+
"last_frame": {
|
| 643 |
+
"passed": true,
|
| 644 |
+
"source_missing": false,
|
| 645 |
+
"forbidden": [],
|
| 646 |
+
"allowed": [],
|
| 647 |
+
"ignored": [],
|
| 648 |
+
"failed_keys": []
|
| 649 |
+
},
|
| 650 |
+
"failed_keys": []
|
| 651 |
+
}
|
| 652 |
+
},
|
| 653 |
+
"gripper": null,
|
| 654 |
+
"post_done_wait_frames": 0,
|
| 655 |
+
"post_done_wait_exhausted": false
|
| 656 |
+
},
|
| 657 |
+
"physical_semantics": {
|
| 658 |
+
"skill": "press",
|
| 659 |
+
"target": "heat_button",
|
| 660 |
+
"attach_used": false,
|
| 661 |
+
"attach_object": null,
|
| 662 |
+
"attach_object_path": null,
|
| 663 |
+
"attach_allowed": false,
|
| 664 |
+
"ordinary_object_physical_only": true
|
| 665 |
+
}
|
| 666 |
+
}
|
| 667 |
+
],
|
| 668 |
+
"physical_semantics": {
|
| 669 |
+
"attach_records": [],
|
| 670 |
+
"ordinary_attach_violations": [],
|
| 671 |
+
"forbidden_shortcuts_absent": true
|
| 672 |
+
},
|
| 673 |
+
"h5_episode_index": 95,
|
| 674 |
+
"reproducibility": {
|
| 675 |
+
"enabled": true,
|
| 676 |
+
"action_seed": 1421041467881370917,
|
| 677 |
+
"physical_seed": 6425155320322555435,
|
| 678 |
+
"layout_id": "layout_00028",
|
| 679 |
+
"step_seeds": [
|
| 680 |
+
6877381590794877550,
|
| 681 |
+
7968072635520989123,
|
| 682 |
+
2549783545291825864
|
| 683 |
+
],
|
| 684 |
+
"workflow_spec_digest": "76e9bcc700de0f14b5a602707b42925ef4ad7231d8e2c9b7d80e5dac90a5593f",
|
| 685 |
+
"strict_task_state": false,
|
| 686 |
+
"allow_physical_randomization": true,
|
| 687 |
+
"seed_source": "workflow.reproducibility",
|
| 688 |
+
"task_island_state_digest": "a20792f05bfb773abe74baf50728140962293212120303c159f3349e65fb4e65",
|
| 689 |
+
"visual_seed": 8799058378680481395,
|
| 690 |
+
"episode_index": 95,
|
| 691 |
+
"physical_randomization_enabled": true,
|
| 692 |
+
"motion_controller_type": "ik_servo",
|
| 693 |
+
"runtime_step_seeds": [
|
| 694 |
+
6877381590794877550,
|
| 695 |
+
7968072635520989123,
|
| 696 |
+
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|
| 697 |
+
],
|
| 698 |
+
"runtime_workflow_digest": "2c7e4c135ee623b6dac88cf8a961fd651fa880a837ee29a8ac72699e3479700a"
|
| 699 |
+
}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_96_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
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|
| 700 |
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_97_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 97,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2480235019443059,
|
| 26 |
+
0.2686095514116031,
|
| 27 |
+
1.1549099428634477
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.1549099428634477,
|
| 30 |
+
"required_z": 0.8565865812473424,
|
| 31 |
+
"initial_z": 0.7565865812473425,
|
| 32 |
+
"lift_margin": 0.2983233616161053,
|
| 33 |
+
"gripper_z": 1.1479799953851844,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2433875330695783,
|
| 38 |
+
0.26379963602295065,
|
| 39 |
+
1.1479799953851844
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004635968874727586,
|
| 43 |
+
0.0048099153886524415,
|
| 44 |
+
0.006929947478263365
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006680381235636071,
|
| 47 |
+
"object_to_gripper_z": 0.006929947478263365,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2480235019443059,
|
| 51 |
+
0.2449604975208922,
|
| 52 |
+
1.1549099428634477
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.236915309169769,
|
| 56 |
+
0.2686095514116031,
|
| 57 |
+
1.1549099428634477
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.24246940555703744,
|
| 61 |
+
0.2567850244662476,
|
| 62 |
+
1.1549099428634477
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005554096387268448,
|
| 66 |
+
0.011824526945355462,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026127948573166283,
|
| 70 |
+
"fingertip_max_gap": 0.0902745139106112,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013063974286583154,
|
| 74 |
+
"object_to_finger_midpoint_z": 0.0,
|
| 75 |
+
"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.1549099428634477,
|
| 78 |
+
"object_top_z": 1.2003922205867248,
|
| 79 |
+
"finger_top_clearance": 0.045482277723277065,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01364468331698312,
|
| 81 |
+
"object_projection_between_fingers": 0.8192508802965397,
|
| 82 |
+
"object_to_finger_line_xy": 0.010054300620570819,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.0476372569553056,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.3204511765018037,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 362,
|
| 96 |
+
"max_stable_success_frames": 362,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
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| 139 |
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"joint1",
|
| 140 |
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"joint2",
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| 141 |
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"joint3",
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| 142 |
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"joint4",
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| 143 |
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"joint5",
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| 144 |
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"joint6",
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| 145 |
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"joint7",
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| 146 |
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"left_inner_finger",
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| 147 |
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"lift2",
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| 148 |
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"mobile_rotate",
|
| 149 |
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"mobile_translate_x",
|
| 150 |
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"mobile_translate_y",
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| 151 |
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"panda_joint1",
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| 152 |
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"panda_joint2",
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 212 |
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| 530 |
+
"closest_contact_pad_index": 0,
|
| 531 |
+
"closest_contact_pad_minus_button": [
|
| 532 |
+
0.0,
|
| 533 |
+
-0.0027401446272043994,
|
| 534 |
+
0.021224587622607927
|
| 535 |
+
]
|
| 536 |
+
},
|
| 537 |
+
"failed_keys": [],
|
| 538 |
+
"failure_code": null,
|
| 539 |
+
"failure_messages": {},
|
| 540 |
+
"safety": {
|
| 541 |
+
"policy": {
|
| 542 |
+
"skill": "press",
|
| 543 |
+
"target_object": "heat_button",
|
| 544 |
+
"held_object": null,
|
| 545 |
+
"allowed_objects": [
|
| 546 |
+
"heat_button"
|
| 547 |
+
],
|
| 548 |
+
"allowed_object_paths": [
|
| 549 |
+
"/World/heat_device/button"
|
| 550 |
+
],
|
| 551 |
+
"allowed_prim_substrings": [],
|
| 552 |
+
"robot_prim_substrings": [
|
| 553 |
+
"Robotiq2F85",
|
| 554 |
+
"Robotiq_2F_85",
|
| 555 |
+
"contact_sensor",
|
| 556 |
+
"dummy_base_prismatic_x_joint",
|
| 557 |
+
"dummy_base_prismatic_y_joint",
|
| 558 |
+
"dummy_base_revolute_z_joint",
|
| 559 |
+
"elbow_joint",
|
| 560 |
+
"festo",
|
| 561 |
+
"finger",
|
| 562 |
+
"fr3",
|
| 563 |
+
"fr3_duo_mobile",
|
| 564 |
+
"fr3_joint1",
|
| 565 |
+
"fr3_joint2",
|
| 566 |
+
"fr3_joint3",
|
| 567 |
+
"fr3_joint4",
|
| 568 |
+
"fr3_joint5",
|
| 569 |
+
"fr3_joint6",
|
| 570 |
+
"fr3_joint7",
|
| 571 |
+
"fr3_leftfinger",
|
| 572 |
+
"fr3_rightfinger",
|
| 573 |
+
"franka",
|
| 574 |
+
"geometry",
|
| 575 |
+
"gripper",
|
| 576 |
+
"gripper_center",
|
| 577 |
+
"joint1",
|
| 578 |
+
"joint2",
|
| 579 |
+
"joint3",
|
| 580 |
+
"joint4",
|
| 581 |
+
"joint5",
|
| 582 |
+
"joint6",
|
| 583 |
+
"joint7",
|
| 584 |
+
"left_inner_finger",
|
| 585 |
+
"lift2",
|
| 586 |
+
"mobile_rotate",
|
| 587 |
+
"mobile_translate_x",
|
| 588 |
+
"mobile_translate_y",
|
| 589 |
+
"panda_joint1",
|
| 590 |
+
"panda_joint2",
|
| 591 |
+
"panda_joint3",
|
| 592 |
+
"panda_joint4",
|
| 593 |
+
"panda_joint5",
|
| 594 |
+
"panda_joint6",
|
| 595 |
+
"panda_joint7",
|
| 596 |
+
"panda_leftfinger",
|
| 597 |
+
"panda_leftfingertip",
|
| 598 |
+
"panda_rightfinger",
|
| 599 |
+
"panda_rightfingertip",
|
| 600 |
+
"ridgebase",
|
| 601 |
+
"ridgebase_festo",
|
| 602 |
+
"ridgebase_fr3",
|
| 603 |
+
"ridgebase_rizon4",
|
| 604 |
+
"ridgebase_ur16e",
|
| 605 |
+
"ridgebase_ur5e",
|
| 606 |
+
"right_inner_finger",
|
| 607 |
+
"rizon4",
|
| 608 |
+
"robot",
|
| 609 |
+
"robotiq_2f85",
|
| 610 |
+
"shoulder_lift_joint",
|
| 611 |
+
"shoulder_pan_joint",
|
| 612 |
+
"split_aloha",
|
| 613 |
+
"tool_center",
|
| 614 |
+
"ur16e",
|
| 615 |
+
"ur5e",
|
| 616 |
+
"visuals",
|
| 617 |
+
"wrist",
|
| 618 |
+
"wrist_1_joint",
|
| 619 |
+
"wrist_2_joint",
|
| 620 |
+
"wrist_3_joint"
|
| 621 |
+
],
|
| 622 |
+
"ignored_prim_substrings": [
|
| 623 |
+
"base_link",
|
| 624 |
+
"caster",
|
| 625 |
+
"defaultgroundplane",
|
| 626 |
+
"desk",
|
| 627 |
+
"floor",
|
| 628 |
+
"ground",
|
| 629 |
+
"groundplane",
|
| 630 |
+
"link0",
|
| 631 |
+
"table",
|
| 632 |
+
"wheel",
|
| 633 |
+
"workbench"
|
| 634 |
+
],
|
| 635 |
+
"enabled": true
|
| 636 |
+
},
|
| 637 |
+
"status": "active",
|
| 638 |
+
"passed": true,
|
| 639 |
+
"source_missing": false,
|
| 640 |
+
"forbidden": [],
|
| 641 |
+
"disturbances": [],
|
| 642 |
+
"last_frame": {
|
| 643 |
+
"passed": true,
|
| 644 |
+
"source_missing": false,
|
| 645 |
+
"forbidden": [],
|
| 646 |
+
"allowed": [],
|
| 647 |
+
"ignored": [],
|
| 648 |
+
"failed_keys": []
|
| 649 |
+
},
|
| 650 |
+
"failed_keys": []
|
| 651 |
+
}
|
| 652 |
+
},
|
| 653 |
+
"gripper": null,
|
| 654 |
+
"post_done_wait_frames": 0,
|
| 655 |
+
"post_done_wait_exhausted": false
|
| 656 |
+
},
|
| 657 |
+
"physical_semantics": {
|
| 658 |
+
"skill": "press",
|
| 659 |
+
"target": "heat_button",
|
| 660 |
+
"attach_used": false,
|
| 661 |
+
"attach_object": null,
|
| 662 |
+
"attach_object_path": null,
|
| 663 |
+
"attach_allowed": false,
|
| 664 |
+
"ordinary_object_physical_only": true
|
| 665 |
+
}
|
| 666 |
+
}
|
| 667 |
+
],
|
| 668 |
+
"physical_semantics": {
|
| 669 |
+
"attach_records": [],
|
| 670 |
+
"ordinary_attach_violations": [],
|
| 671 |
+
"forbidden_shortcuts_absent": true
|
| 672 |
+
},
|
| 673 |
+
"h5_episode_index": 97,
|
| 674 |
+
"reproducibility": {
|
| 675 |
+
"enabled": true,
|
| 676 |
+
"action_seed": 1421041467881370917,
|
| 677 |
+
"physical_seed": 6425155320322555435,
|
| 678 |
+
"layout_id": "layout_00028",
|
| 679 |
+
"step_seeds": [
|
| 680 |
+
6877381590794877550,
|
| 681 |
+
7968072635520989123,
|
| 682 |
+
2549783545291825864
|
| 683 |
+
],
|
| 684 |
+
"workflow_spec_digest": "76e9bcc700de0f14b5a602707b42925ef4ad7231d8e2c9b7d80e5dac90a5593f",
|
| 685 |
+
"strict_task_state": false,
|
| 686 |
+
"allow_physical_randomization": true,
|
| 687 |
+
"seed_source": "workflow.reproducibility",
|
| 688 |
+
"task_island_state_digest": "0412c26e38b9137db10e1713617de01af957160849a9184a7c4f53342b79b28f",
|
| 689 |
+
"visual_seed": 4497887696179298062,
|
| 690 |
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"episode_index": 97,
|
| 691 |
+
"physical_randomization_enabled": true,
|
| 692 |
+
"motion_controller_type": "ik_servo",
|
| 693 |
+
"runtime_step_seeds": [
|
| 694 |
+
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|
| 695 |
+
7968072635520989123,
|
| 696 |
+
2549783545291825864
|
| 697 |
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],
|
| 698 |
+
"runtime_workflow_digest": "2c7e4c135ee623b6dac88cf8a961fd651fa880a837ee29a8ac72699e3479700a"
|
| 699 |
+
}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_98_success.json
ADDED
|
@@ -0,0 +1,700 @@
|
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| 1 |
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| 3 |
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| 18 |
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| 20 |
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| 300 |
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"safety": {
|
| 301 |
+
"policy": {
|
| 302 |
+
"skill": "place",
|
| 303 |
+
"target_object": "heater_platform",
|
| 304 |
+
"held_object": "beaker_b",
|
| 305 |
+
"allowed_objects": [
|
| 306 |
+
"beaker_b",
|
| 307 |
+
"heater_platform"
|
| 308 |
+
],
|
| 309 |
+
"allowed_object_paths": [
|
| 310 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 311 |
+
"/World/target_beaker"
|
| 312 |
+
],
|
| 313 |
+
"allowed_prim_substrings": [],
|
| 314 |
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"robot_prim_substrings": [
|
| 315 |
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"Robotiq2F85",
|
| 316 |
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"Robotiq_2F_85",
|
| 317 |
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"contact_sensor",
|
| 318 |
+
"dummy_base_prismatic_x_joint",
|
| 319 |
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"dummy_base_prismatic_y_joint",
|
| 320 |
+
"dummy_base_revolute_z_joint",
|
| 321 |
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"elbow_joint",
|
| 322 |
+
"festo",
|
| 323 |
+
"finger",
|
| 324 |
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"fr3",
|
| 325 |
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"fr3_duo_mobile",
|
| 326 |
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"fr3_joint1",
|
| 327 |
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"fr3_joint2",
|
| 328 |
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"fr3_joint3",
|
| 329 |
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"fr3_joint4",
|
| 330 |
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"fr3_joint5",
|
| 331 |
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"fr3_joint6",
|
| 332 |
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"fr3_joint7",
|
| 333 |
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"fr3_leftfinger",
|
| 334 |
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"fr3_rightfinger",
|
| 335 |
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"franka",
|
| 336 |
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"geometry",
|
| 337 |
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"gripper",
|
| 338 |
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"gripper_center",
|
| 339 |
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"joint1",
|
| 340 |
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"joint2",
|
| 341 |
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"joint3",
|
| 342 |
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"joint4",
|
| 343 |
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"joint5",
|
| 344 |
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"joint6",
|
| 345 |
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"joint7",
|
| 346 |
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"left_inner_finger",
|
| 347 |
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"lift2",
|
| 348 |
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"mobile_rotate",
|
| 349 |
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"mobile_translate_x",
|
| 350 |
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"mobile_translate_y",
|
| 351 |
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"panda_joint1",
|
| 352 |
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"panda_joint2",
|
| 353 |
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"panda_joint3",
|
| 354 |
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"panda_joint4",
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| 355 |
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"panda_joint5",
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| 356 |
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"panda_joint6",
|
| 357 |
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"panda_joint7",
|
| 358 |
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"panda_leftfinger",
|
| 359 |
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"panda_leftfingertip",
|
| 360 |
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"panda_rightfinger",
|
| 361 |
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"panda_rightfingertip",
|
| 362 |
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"ridgebase",
|
| 363 |
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"ridgebase_festo",
|
| 364 |
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"ridgebase_fr3",
|
| 365 |
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"ridgebase_rizon4",
|
| 366 |
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"ridgebase_ur16e",
|
| 367 |
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"ridgebase_ur5e",
|
| 368 |
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"right_inner_finger",
|
| 369 |
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"rizon4",
|
| 370 |
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"robot",
|
| 371 |
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"robotiq_2f85",
|
| 372 |
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"shoulder_lift_joint",
|
| 373 |
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"shoulder_pan_joint",
|
| 374 |
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"split_aloha",
|
| 375 |
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"tool_center",
|
| 376 |
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"ur16e",
|
| 377 |
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"ur5e",
|
| 378 |
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"visuals",
|
| 379 |
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"wrist",
|
| 380 |
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"wrist_1_joint",
|
| 381 |
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"wrist_2_joint",
|
| 382 |
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"wrist_3_joint"
|
| 383 |
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],
|
| 384 |
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|
| 385 |
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"base_link",
|
| 386 |
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"caster",
|
| 387 |
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"defaultgroundplane",
|
| 388 |
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"desk",
|
| 389 |
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"floor",
|
| 390 |
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"ground",
|
| 391 |
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"groundplane",
|
| 392 |
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"link0",
|
| 393 |
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"table",
|
| 394 |
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"wheel",
|
| 395 |
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"workbench"
|
| 396 |
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],
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| 397 |
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|
| 398 |
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},
|
| 399 |
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|
| 400 |
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| 402 |
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},
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},
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| 418 |
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| 421 |
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}
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},
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|
| 430 |
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| 432 |
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| 433 |
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| 434 |
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| 435 |
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| 436 |
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| 440 |
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],
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],
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],
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},
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},
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}
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}
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],
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},
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],
|
| 698 |
+
"runtime_workflow_digest": "2c7e4c135ee623b6dac88cf8a961fd651fa880a837ee29a8ac72699e3479700a"
|
| 699 |
+
}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_99_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 99,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.25142078592910405,
|
| 26 |
+
0.2610188256402006,
|
| 27 |
+
1.15757293556065
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.15757293556065,
|
| 30 |
+
"required_z": 0.856586723477294,
|
| 31 |
+
"initial_z": 0.756586723477294,
|
| 32 |
+
"lift_margin": 0.3009862120833561,
|
| 33 |
+
"gripper_z": 1.1506661169549985,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.24682066471882266,
|
| 38 |
+
0.25627493787347283,
|
| 39 |
+
1.1506661169549985
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004600121210281388,
|
| 43 |
+
0.0047438877667277946,
|
| 44 |
+
0.006906818605651566
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006607994120199436,
|
| 47 |
+
"object_to_gripper_z": 0.006906818605651566,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.25142078592910405,
|
| 51 |
+
0.23725574758113857,
|
| 52 |
+
1.15757293556065
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.24059389436939457,
|
| 56 |
+
0.2610188256402006,
|
| 57 |
+
1.15757293556065
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2460073401492493,
|
| 61 |
+
0.24913728661066958,
|
| 62 |
+
1.15757293556065
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005413445779854753,
|
| 66 |
+
0.01188153902953104,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026113319583821293,
|
| 70 |
+
"fingertip_max_gap": 0.09047441685512095,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013056659791910665,
|
| 74 |
+
"object_to_finger_midpoint_z": 0.0,
|
| 75 |
+
"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.15757293556065,
|
| 78 |
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| 619 |
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|
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|
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|
| 673 |
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|
| 674 |
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|
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|
| 699 |
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}
|
| 700 |
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/results/episode_9_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 9,
|
| 3 |
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"success": true,
|
| 4 |
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"passed_steps": 3,
|
| 5 |
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"total_steps": 3,
|
| 6 |
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"step_accuracy": "3/3",
|
| 7 |
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"step_details": [
|
| 8 |
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{
|
| 9 |
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"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
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"object_position": [
|
| 25 |
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0.24999509180955407,
|
| 26 |
+
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|
| 27 |
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|
| 28 |
+
],
|
| 29 |
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"current_z": 1.157712061441458,
|
| 30 |
+
"required_z": 0.8565865741460371,
|
| 31 |
+
"initial_z": 0.7565865741460371,
|
| 32 |
+
"lift_margin": 0.3011254872954209,
|
| 33 |
+
"gripper_z": 1.1508108284633534,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
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"virtual_attach_allowed": false,
|
| 36 |
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"gripper_position": [
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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],
|
| 46 |
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"object_to_gripper_xy": 0.006475167186143068,
|
| 47 |
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"object_to_gripper_z": 0.006901232978104632,
|
| 48 |
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"fingertip_source": "active_contact_pad_positions",
|
| 49 |
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"finger_a": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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],
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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],
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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0.0
|
| 68 |
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],
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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"require_object_upright": true,
|
| 87 |
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"object_upright_reference_source": "scene_initial",
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
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],
|
| 95 |
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"stable_success_frames": 369,
|
| 96 |
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"max_stable_success_frames": 369,
|
| 97 |
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|
| 98 |
+
},
|
| 99 |
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"failed_keys": [],
|
| 100 |
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"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
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"allowed_objects": [
|
| 108 |
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"beaker_b"
|
| 109 |
+
],
|
| 110 |
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"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
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"joint1",
|
| 140 |
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"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
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"joint5",
|
| 144 |
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"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
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"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
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"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
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],
|
| 184 |
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"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
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"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
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"enabled": true
|
| 198 |
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},
|
| 199 |
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"status": "active",
|
| 200 |
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"passed": true,
|
| 201 |
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"source_missing": false,
|
| 202 |
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"forbidden": [],
|
| 203 |
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"disturbances": [],
|
| 204 |
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"last_frame": {
|
| 205 |
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"passed": true,
|
| 206 |
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"source_missing": false,
|
| 207 |
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"forbidden": [],
|
| 208 |
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"allowed": [
|
| 209 |
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{
|
| 210 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/target_beaker/mesh"
|
| 212 |
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},
|
| 213 |
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{
|
| 214 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/target_beaker/mesh"
|
| 216 |
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}
|
| 217 |
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],
|
| 218 |
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"ignored": [],
|
| 219 |
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|
| 220 |
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},
|
| 221 |
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"failed_keys": []
|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
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"gripper": null,
|
| 225 |
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"post_done_wait_frames": 0,
|
| 226 |
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"post_done_wait_exhausted": false
|
| 227 |
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},
|
| 228 |
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"physical_semantics": {
|
| 229 |
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"skill": "pick",
|
| 230 |
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"target": "beaker_b",
|
| 231 |
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"attach_used": false,
|
| 232 |
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|
| 233 |
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|
| 234 |
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"attach_allowed": false,
|
| 235 |
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"ordinary_object_physical_only": true
|
| 236 |
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}
|
| 237 |
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},
|
| 238 |
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{
|
| 239 |
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"step_index": 1,
|
| 240 |
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"skill": "place",
|
| 241 |
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"target": "heater_platform",
|
| 242 |
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"success": true,
|
| 243 |
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"reason": "executed",
|
| 244 |
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| 246 |
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| 247 |
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| 249 |
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| 250 |
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],
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| 312 |
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},
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],
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|
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|
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],
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|
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|
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|
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|
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|
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],
|
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|
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},
|
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|
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