Upload folder using huggingface_hub (part 29)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_72_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_73_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_74_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_75_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_76_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_77_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_79_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_7_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_80_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_81_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_82_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_83_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_84_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_85_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_86_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_87_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_88_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_89_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_8_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_90_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_91_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_93_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_94_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_95_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_96_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_99_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_9_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/summary.json +9 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0001.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0005.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0006.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0008.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0011.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0013.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0017.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0018.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0020.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0027.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0028.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0030.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0031.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0033.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0039.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0040.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0041.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0043.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0045.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0049.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0050.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00016/dataset/episode_0060.h5 +3 -0
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_72_success.json
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_73_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 73,
|
| 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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.21359396087335947,
|
| 26 |
+
0.03055753892896118,
|
| 27 |
+
1.047349664910389
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.047349664910389,
|
| 30 |
+
"required_z": 0.8611069848519243,
|
| 31 |
+
"initial_z": 0.7611069848519243,
|
| 32 |
+
"lift_margin": 0.18624268005846478,
|
| 33 |
+
"gripper_z": 1.0529856243029783,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.20898507562931598,
|
| 38 |
+
0.02602966008187023,
|
| 39 |
+
1.0529856243029783
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004608885244043487,
|
| 43 |
+
0.004527878847090952,
|
| 44 |
+
-0.005635959392589207
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006460921764477223,
|
| 47 |
+
"object_to_gripper_z": -0.005635959392589207,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.21359396087335947,
|
| 51 |
+
0.00633994746297106,
|
| 52 |
+
1.047349664910389
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2024416571280102,
|
| 56 |
+
0.03055753892896118,
|
| 57 |
+
1.047349664910389
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.20801780900068484,
|
| 61 |
+
0.018448743195966122,
|
| 62 |
+
1.047349664910389
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005576151872674628,
|
| 66 |
+
0.012108795732995059,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02666206322177878,
|
| 70 |
+
"fingertip_max_gap": 0.09376757828669044,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013331031610889388,
|
| 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": 1.047349664910389,
|
| 78 |
+
"object_top_z": 1.0989252220369314,
|
| 79 |
+
"finger_top_clearance": 0.05157555712654238,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01547266713796268,
|
| 81 |
+
"object_projection_between_fingers": 0.8250388313040463,
|
| 82 |
+
"object_to_finger_line_xy": 0.010129821303134733,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04938378914334522,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.1961486747545254,
|
| 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": 209,
|
| 96 |
+
"max_stable_success_frames": 209,
|
| 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_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 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 |
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| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_a",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_a",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/beaker_2",
|
| 535 |
+
"/World/heat_device/heat_device/heat_device/plat"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_platform",
|
| 646 |
+
"attach_used": false,
|
| 647 |
+
"attach_object": null,
|
| 648 |
+
"attach_object_path": null,
|
| 649 |
+
"attach_allowed": false,
|
| 650 |
+
"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 73,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 6428506004157355875,
|
| 663 |
+
"physical_seed": 4650221932225994587,
|
| 664 |
+
"layout_id": "layout_00014",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
4947227672382490837,
|
| 667 |
+
8216466612410408910,
|
| 668 |
+
5552583258780378057
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "6000e8e656cca4153b22a3d0d953772c208b442dbb2faef35bc5758e55545583",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "c2b249519982866a4c87b2aece5d7ed44b74265d6a9de69cd30466ae3d2cbb8f",
|
| 675 |
+
"visual_seed": 4104526825529623175,
|
| 676 |
+
"episode_index": 73,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
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|
| 681 |
+
8216466612410408910,
|
| 682 |
+
5552583258780378057
|
| 683 |
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],
|
| 684 |
+
"runtime_workflow_digest": "28bdb79b5e87952c75c5e99c4256a8c7da3b2cd8ad606634f553e6e07a6efd41"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_74_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 11 |
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| 16 |
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| 18 |
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_75_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 75,
|
| 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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.22060400987410506,
|
| 26 |
+
0.028926788937163394,
|
| 27 |
+
1.0475166489460142
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0475166489460142,
|
| 30 |
+
"required_z": 0.8611064484101212,
|
| 31 |
+
"initial_z": 0.7611064484101212,
|
| 32 |
+
"lift_margin": 0.18641020053589297,
|
| 33 |
+
"gripper_z": 1.0533636869967673,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.21584663477769156,
|
| 38 |
+
0.024207395688920816,
|
| 39 |
+
1.0533636869967673
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004757375096413496,
|
| 43 |
+
0.004719393248242578,
|
| 44 |
+
-0.0058470380507531505
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006701140980425122,
|
| 47 |
+
"object_to_gripper_z": -0.0058470380507531505,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.22060400987410506,
|
| 51 |
+
0.0048189290223875835,
|
| 52 |
+
1.0475166489460142
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.20889257123103885,
|
| 56 |
+
0.028926788937163394,
|
| 57 |
+
1.0475166489460142
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.21474829055257194,
|
| 61 |
+
0.016872858979775487,
|
| 62 |
+
1.0475166489460142
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005855719321533115,
|
| 66 |
+
0.012053929957387906,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026801990686528467,
|
| 70 |
+
"fingertip_max_gap": 0.09245591546884166,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01340099534326424,
|
| 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": 1.0475166489460142,
|
| 78 |
+
"object_top_z": 1.0983566630964259,
|
| 79 |
+
"finger_top_clearance": 0.05084001415041173,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015252004245123501,
|
| 81 |
+
"object_projection_between_fingers": 0.8090646282897838,
|
| 82 |
+
"object_to_finger_line_xy": 0.010534207160569017,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04872795773442083,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.9095729212787524,
|
| 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": 209,
|
| 96 |
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|
| 489 |
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| 490 |
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|
| 491 |
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| 494 |
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|
| 498 |
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|
| 499 |
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|
| 500 |
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| 501 |
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| 502 |
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| 503 |
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| 504 |
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| 508 |
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| 509 |
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| 510 |
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| 511 |
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|
| 518 |
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|
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|
| 520 |
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},
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| 521 |
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|
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|
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|
| 524 |
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|
| 525 |
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|
| 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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"beaker_a",
|
| 531 |
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|
| 532 |
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],
|
| 533 |
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|
| 534 |
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|
| 535 |
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|
| 536 |
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],
|
| 537 |
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|
| 538 |
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"robot_prim_substrings": [
|
| 539 |
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|
| 540 |
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|
| 541 |
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|
| 542 |
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|
| 543 |
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|
| 544 |
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|
| 545 |
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|
| 546 |
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|
| 547 |
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|
| 548 |
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|
| 549 |
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|
| 550 |
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|
| 551 |
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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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"fr3_joint7",
|
| 557 |
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|
| 558 |
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|
| 559 |
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|
| 560 |
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|
| 561 |
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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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"mobile_rotate",
|
| 573 |
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"mobile_translate_x",
|
| 574 |
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"mobile_translate_y",
|
| 575 |
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"panda_joint1",
|
| 576 |
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"panda_joint2",
|
| 577 |
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"panda_joint3",
|
| 578 |
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"panda_joint4",
|
| 579 |
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|
| 580 |
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"panda_joint6",
|
| 581 |
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|
| 582 |
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"panda_leftfinger",
|
| 583 |
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"panda_leftfingertip",
|
| 584 |
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"panda_rightfinger",
|
| 585 |
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|
| 586 |
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|
| 587 |
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"ridgebase_festo",
|
| 588 |
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"ridgebase_fr3",
|
| 589 |
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|
| 590 |
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|
| 591 |
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|
| 592 |
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"right_inner_finger",
|
| 593 |
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"rizon4",
|
| 594 |
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"robot",
|
| 595 |
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"robotiq_2f85",
|
| 596 |
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|
| 597 |
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|
| 598 |
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"split_aloha",
|
| 599 |
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"tool_center",
|
| 600 |
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"ur16e",
|
| 601 |
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"ur5e",
|
| 602 |
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"visuals",
|
| 603 |
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"wrist",
|
| 604 |
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"wrist_1_joint",
|
| 605 |
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"wrist_2_joint",
|
| 606 |
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|
| 607 |
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],
|
| 608 |
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|
| 609 |
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"base_link",
|
| 610 |
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|
| 611 |
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"defaultgroundplane",
|
| 612 |
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"desk",
|
| 613 |
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"floor",
|
| 614 |
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"ground",
|
| 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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"enabled": true
|
| 622 |
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| 623 |
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| 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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|
| 640 |
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|
| 641 |
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|
| 642 |
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|
| 643 |
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|
| 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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|
| 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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|
| 658 |
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|
| 659 |
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|
| 660 |
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|
| 661 |
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|
| 662 |
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| 674 |
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|
| 677 |
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|
| 678 |
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|
| 679 |
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|
| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_76_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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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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| 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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| 40 |
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| 43 |
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| 49 |
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| 50 |
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| 51 |
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| 66 |
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| 92 |
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| 102 |
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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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| 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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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 156 |
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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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| 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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| 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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| 192 |
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| 193 |
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"physical_seed": 4650221932225994587,
|
| 664 |
+
"layout_id": "layout_00014",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
4947227672382490837,
|
| 667 |
+
8216466612410408910,
|
| 668 |
+
5552583258780378057
|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "6000e8e656cca4153b22a3d0d953772c208b442dbb2faef35bc5758e55545583",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "f0e6e8e5fe9f71fc18a69c8f67dc63a669e47451d7ba48dca4b4425b5525610c",
|
| 675 |
+
"visual_seed": 344110506041713459,
|
| 676 |
+
"episode_index": 76,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
4947227672382490837,
|
| 681 |
+
8216466612410408910,
|
| 682 |
+
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "28bdb79b5e87952c75c5e99c4256a8c7da3b2cd8ad606634f553e6e07a6efd41"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_77_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 77,
|
| 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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.21665304709912508,
|
| 26 |
+
0.03255583643426582,
|
| 27 |
+
1.047510332524885
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.047510332524885,
|
| 30 |
+
"required_z": 0.8611063888054766,
|
| 31 |
+
"initial_z": 0.7611063888054767,
|
| 32 |
+
"lift_margin": 0.18640394371940827,
|
| 33 |
+
"gripper_z": 1.0533195738599574,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2115998919273043,
|
| 38 |
+
0.02767205125205449,
|
| 39 |
+
1.0533195738599574
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0050531551718207834,
|
| 43 |
+
0.004883785182211331,
|
| 44 |
+
-0.005809241335072546
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.007027498480717452,
|
| 47 |
+
"object_to_gripper_z": -0.005809241335072546,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.21665304709912508,
|
| 51 |
+
0.008268095670029986,
|
| 52 |
+
1.047510332524885
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.20467489800133584,
|
| 56 |
+
0.03255583643426582,
|
| 57 |
+
1.047510332524885
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
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|
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_79_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 79,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
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"step_details": [
|
| 8 |
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{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.22023324886672818,
|
| 26 |
+
0.024302313847338032,
|
| 27 |
+
1.0474629907908382
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0474629907908382,
|
| 30 |
+
"required_z": 0.8611066868287004,
|
| 31 |
+
"initial_z": 0.7611066868287004,
|
| 32 |
+
"lift_margin": 0.18635630396213776,
|
| 33 |
+
"gripper_z": 1.0534473858301072,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.21582027370679388,
|
| 38 |
+
0.019949673811863813,
|
| 39 |
+
1.0534473858301072
|
| 40 |
+
],
|
| 41 |
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"object_minus_gripper": [
|
| 42 |
+
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|
| 43 |
+
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|
| 44 |
+
-0.005984395039269064
|
| 45 |
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],
|
| 46 |
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"object_to_gripper_xy": 0.006198372773608424,
|
| 47 |
+
"object_to_gripper_z": -0.005984395039269064,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.22023324886672818,
|
| 51 |
+
7.554386917707027e-05,
|
| 52 |
+
1.0474629907908382
|
| 53 |
+
],
|
| 54 |
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"finger_b": [
|
| 55 |
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|
| 56 |
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0.024302313847338032,
|
| 57 |
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1.0474629907908382
|
| 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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1.0474629907908382
|
| 63 |
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],
|
| 64 |
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|
| 65 |
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|
| 66 |
+
0.01211338498908048,
|
| 67 |
+
0.0
|
| 68 |
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],
|
| 69 |
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"finger_gap": 0.026495246074153475,
|
| 70 |
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"fingertip_max_gap": 0.09605277813113683,
|
| 71 |
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"finger_z_skew": 0.0,
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
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"object_position_origin": "center",
|
| 77 |
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"object_center_z_for_grasp": 1.0474629907908382,
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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"object_projection_between_fingers": 0.8360940196718796,
|
| 82 |
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"object_to_finger_line_xy": 0.009808281365257434,
|
| 83 |
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"fingertip_xy_max_dist": 0.055,
|
| 84 |
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|
| 85 |
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"fingertip_line_xy_max_dist": 0.05052638906556842,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.9819108714401064,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
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"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
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"stable_success_frames": 209,
|
| 96 |
+
"max_stable_success_frames": 209,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
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"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 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 |
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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 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"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/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"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/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 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 |
+
},
|
| 228 |
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"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
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"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
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"groundplane",
|
| 616 |
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"link0",
|
| 617 |
+
"table",
|
| 618 |
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|
| 619 |
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"workbench"
|
| 620 |
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],
|
| 621 |
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|
| 622 |
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},
|
| 623 |
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|
| 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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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 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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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "heater_platform",
|
| 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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"ordinary_object_physical_only": true
|
| 651 |
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|
| 652 |
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}
|
| 653 |
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],
|
| 654 |
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"physical_semantics": {
|
| 655 |
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"attach_records": [],
|
| 656 |
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|
| 657 |
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|
| 658 |
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},
|
| 659 |
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"h5_episode_index": 79,
|
| 660 |
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"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 6428506004157355875,
|
| 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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|
| 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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|
| 674 |
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|
| 675 |
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|
| 676 |
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|
| 677 |
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|
| 678 |
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|
| 679 |
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|
| 680 |
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|
| 681 |
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|
| 682 |
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|
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|
| 684 |
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|
| 685 |
+
}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_7_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 7,
|
| 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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_80_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 80,
|
| 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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.21113536682738634,
|
| 26 |
+
0.02547019106771838,
|
| 27 |
+
1.0496733744560225
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0496733744560225,
|
| 30 |
+
"required_z": 0.8611064484101212,
|
| 31 |
+
"initial_z": 0.7611064484101212,
|
| 32 |
+
"lift_margin": 0.1885669260459013,
|
| 33 |
+
"gripper_z": 1.0553022647933938,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.20663283784588402,
|
| 38 |
+
0.021099431754468934,
|
| 39 |
+
1.0553022647933938
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0045025289815023295,
|
| 43 |
+
0.004370759313249446,
|
| 44 |
+
-0.005628890337371351
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.00627505411957739,
|
| 47 |
+
"object_to_gripper_z": -0.005628890337371351,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.21113536682738634,
|
| 51 |
+
0.0011428175460581954,
|
| 52 |
+
1.0496733744560225
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.20044908789498583,
|
| 56 |
+
0.02547019106771838,
|
| 57 |
+
1.0496733744560225
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.20579222736118608,
|
| 61 |
+
0.013306504306888288,
|
| 62 |
+
1.0496733744560225
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.00534313946620027,
|
| 66 |
+
0.012163686760830092,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026570992828335187,
|
| 70 |
+
"fingertip_max_gap": 0.09519115049643845,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.0132854964141676,
|
| 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": 1.0496733744560225,
|
| 78 |
+
"object_top_z": 1.101997251911183,
|
| 79 |
+
"finger_top_clearance": 0.05232387745516043,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01569716323654816,
|
| 81 |
+
"object_projection_between_fingers": 0.8382525481870804,
|
| 82 |
+
"object_to_finger_line_xy": 0.009783943747405838,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.050095575248219226,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.6943734378627129,
|
| 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": 212,
|
| 96 |
+
"max_stable_success_frames": 212,
|
| 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_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 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 |
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"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
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"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
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"disturbances": [],
|
| 628 |
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"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
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"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
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"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
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"gripper": null,
|
| 640 |
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"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
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"target": "heater_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
+
"attach_object_path": null,
|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 80,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 6428506004157355875,
|
| 663 |
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"physical_seed": 4650221932225994587,
|
| 664 |
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"layout_id": "layout_00014",
|
| 665 |
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"step_seeds": [
|
| 666 |
+
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|
| 667 |
+
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "6000e8e656cca4153b22a3d0d953772c208b442dbb2faef35bc5758e55545583",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "81c8c3bce90a6b575334ee7844306eeaacd5680024edce8e20caf99c29da70c2",
|
| 675 |
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"visual_seed": 7727777663140538913,
|
| 676 |
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"episode_index": 80,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_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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"runtime_workflow_digest": "28bdb79b5e87952c75c5e99c4256a8c7da3b2cd8ad606634f553e6e07a6efd41"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_81_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_82_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 82,
|
| 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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.21434552855966713,
|
| 26 |
+
0.03250742856140368,
|
| 27 |
+
1.0476961349523046
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0476961349523046,
|
| 30 |
+
"required_z": 0.861106567619411,
|
| 31 |
+
"initial_z": 0.761106567619411,
|
| 32 |
+
"lift_margin": 0.18658956733289367,
|
| 33 |
+
"gripper_z": 1.053873049445237,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.21002986445202224,
|
| 38 |
+
0.02815345236752502,
|
| 39 |
+
1.053873049445237
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.00431566410764489,
|
| 43 |
+
0.004353976193878659,
|
| 44 |
+
-0.00617691449293245
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006130421305822011,
|
| 47 |
+
"object_to_gripper_z": -0.00617691449293245,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.21434552855966713,
|
| 51 |
+
0.008445583876826271,
|
| 52 |
+
1.0476961349523046
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.20349848717884073,
|
| 56 |
+
0.03250742856140368,
|
| 57 |
+
1.0476961349523046
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2089220078692539,
|
| 61 |
+
0.020476506219114975,
|
| 62 |
+
1.0476961349523046
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005423520690413214,
|
| 66 |
+
0.012030922342288704,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026393762072544458,
|
| 70 |
+
"fingertip_max_gap": 0.09566906410926238,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013196881036272234,
|
| 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": 1.0476961349523046,
|
| 78 |
+
"object_top_z": 1.1001867382040857,
|
| 79 |
+
"finger_top_clearance": 0.05249060325178112,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015747180975534302,
|
| 81 |
+
"object_projection_between_fingers": 0.8311037530888417,
|
| 82 |
+
"object_to_finger_line_xy": 0.009888693558548373,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05033453205463119,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.8615213915288058,
|
| 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": 210,
|
| 96 |
+
"max_stable_success_frames": 210,
|
| 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_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 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 |
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|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_a",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_a",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/beaker_2",
|
| 535 |
+
"/World/heat_device/heat_device/heat_device/plat"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
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"source_missing": false,
|
| 626 |
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"forbidden": [],
|
| 627 |
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"disturbances": [],
|
| 628 |
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"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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"allowed": [],
|
| 633 |
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"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
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}
|
| 638 |
+
},
|
| 639 |
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"gripper": null,
|
| 640 |
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"post_done_wait_frames": 0,
|
| 641 |
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"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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"attach_object_path": null,
|
| 649 |
+
"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 82,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 6428506004157355875,
|
| 663 |
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"physical_seed": 4650221932225994587,
|
| 664 |
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"layout_id": "layout_00014",
|
| 665 |
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"step_seeds": [
|
| 666 |
+
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|
| 667 |
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "6000e8e656cca4153b22a3d0d953772c208b442dbb2faef35bc5758e55545583",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "8ca9ddace6a8b3cf594046e9d8c9f74912686ff79789434ca02d17231674ac3b",
|
| 675 |
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"visual_seed": 6405948119557239705,
|
| 676 |
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"episode_index": 82,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_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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"runtime_workflow_digest": "28bdb79b5e87952c75c5e99c4256a8c7da3b2cd8ad606634f553e6e07a6efd41"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_83_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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| 14 |
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| 18 |
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_84_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 84,
|
| 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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2152242560552411,
|
| 26 |
+
0.03244643550835084,
|
| 27 |
+
1.0498905752645908
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0498905752645908,
|
| 30 |
+
"required_z": 0.8611064484101212,
|
| 31 |
+
"initial_z": 0.7611064484101212,
|
| 32 |
+
"lift_margin": 0.18878412685446966,
|
| 33 |
+
"gripper_z": 1.0555497804381195,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.21069080893745126,
|
| 38 |
+
0.02795776543392857,
|
| 39 |
+
1.0555497804381195
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0045334471177898295,
|
| 43 |
+
0.004488670074422274,
|
| 44 |
+
-0.005659205173528692
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006379678816900658,
|
| 47 |
+
"object_to_gripper_z": -0.005659205173528692,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2152242560552411,
|
| 51 |
+
0.008281194159305207,
|
| 52 |
+
1.0498905752645908
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.20411269591796624,
|
| 56 |
+
0.03244643550835084,
|
| 57 |
+
1.0498905752645908
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.20966847598660365,
|
| 61 |
+
0.020363814833828025,
|
| 62 |
+
1.0498905752645908
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005555780068637439,
|
| 66 |
+
0.012082620674522818,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026597474657228278,
|
| 70 |
+
"fingertip_max_gap": 0.09383859003334027,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013298737328614144,
|
| 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": 1.0498905752645908,
|
| 78 |
+
"object_top_z": 1.1016732387623545,
|
| 79 |
+
"finger_top_clearance": 0.051782663497763615,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015534799049329084,
|
| 81 |
+
"object_projection_between_fingers": 0.825470327145655,
|
| 82 |
+
"object_to_finger_line_xy": 0.010095452141307295,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04941929501667014,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.2905736645139279,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
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|
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|
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|
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],
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|
| 534 |
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|
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|
| 536 |
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],
|
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|
| 538 |
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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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| 563 |
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| 566 |
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| 568 |
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|
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|
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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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|
| 581 |
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| 582 |
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|
| 583 |
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|
| 584 |
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| 588 |
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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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|
| 605 |
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|
| 607 |
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| 612 |
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|
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|
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|
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| 619 |
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|
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| 621 |
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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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|
| 660 |
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|
| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_85_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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{
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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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| 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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| 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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| 49 |
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| 50 |
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| 51 |
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| 66 |
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| 67 |
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| 68 |
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| 92 |
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| 93 |
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| 98 |
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| 101 |
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| 102 |
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| 104 |
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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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| 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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| 148 |
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|
| 149 |
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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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| 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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| 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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| 197 |
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| 211 |
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| 212 |
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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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| 216 |
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|
| 249 |
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| 250 |
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| 253 |
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| 254 |
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"h5_episode_index": 85,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 6428506004157355875,
|
| 663 |
+
"physical_seed": 4650221932225994587,
|
| 664 |
+
"layout_id": "layout_00014",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
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|
| 667 |
+
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|
| 668 |
+
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "6000e8e656cca4153b22a3d0d953772c208b442dbb2faef35bc5758e55545583",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "2322318a3be1b380e970c0f548cb789876f2a2e63e2fd5402dce33d7abecb00f",
|
| 675 |
+
"visual_seed": 9034876154686577434,
|
| 676 |
+
"episode_index": 85,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
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|
| 681 |
+
8216466612410408910,
|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "28bdb79b5e87952c75c5e99c4256a8c7da3b2cd8ad606634f553e6e07a6efd41"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_86_success.json
ADDED
|
@@ -0,0 +1,686 @@
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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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2170655659684778,
|
| 26 |
+
0.025828850976721315,
|
| 27 |
+
1.0492665162708863
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0492665162708863,
|
| 30 |
+
"required_z": 0.8611063888054766,
|
| 31 |
+
"initial_z": 0.7611063888054767,
|
| 32 |
+
"lift_margin": 0.18816012746540967,
|
| 33 |
+
"gripper_z": 1.0550168140266376,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.21293927008524607,
|
| 38 |
+
0.021586020236821837,
|
| 39 |
+
1.0550168140266376
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.00412629588323174,
|
| 43 |
+
0.004242830739899478,
|
| 44 |
+
-0.00575029775575131
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005918439862278839,
|
| 47 |
+
"object_to_gripper_z": -0.00575029775575131,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2170655659684778,
|
| 51 |
+
0.0018651161250546825,
|
| 52 |
+
1.0492665162708863
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.20643338978747142,
|
| 56 |
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_87_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 87,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
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"step_details": [
|
| 8 |
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{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2174806030702971,
|
| 26 |
+
0.020908290955546416,
|
| 27 |
+
1.0497079799848181
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0497079799848181,
|
| 30 |
+
"required_z": 0.8611064484101212,
|
| 31 |
+
"initial_z": 0.7611064484101212,
|
| 32 |
+
"lift_margin": 0.18860153157469695,
|
| 33 |
+
"gripper_z": 1.0556541714739989,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.21339658632201494,
|
| 38 |
+
0.016606268153706652,
|
| 39 |
+
1.0556541714739989
|
| 40 |
+
],
|
| 41 |
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"object_minus_gripper": [
|
| 42 |
+
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|
| 43 |
+
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|
| 44 |
+
-0.005946191489180741
|
| 45 |
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],
|
| 46 |
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"object_to_gripper_xy": 0.005931828806346184,
|
| 47 |
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"object_to_gripper_z": -0.005946191489180741,
|
| 48 |
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"fingertip_source": "active_contact_pad_positions",
|
| 49 |
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"finger_a": [
|
| 50 |
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0.2174806030702971,
|
| 51 |
+
-0.0028507452462512178,
|
| 52 |
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|
| 53 |
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],
|
| 54 |
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"finger_b": [
|
| 55 |
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|
| 56 |
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0.020908290955546416,
|
| 57 |
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|
| 58 |
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],
|
| 59 |
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"finger_midpoint": [
|
| 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 |
+
0.0
|
| 68 |
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],
|
| 69 |
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"finger_gap": 0.02614804007450802,
|
| 70 |
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"fingertip_max_gap": 0.09769924142051656,
|
| 71 |
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"finger_z_skew": 0.0,
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
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"object_position_origin": "center",
|
| 77 |
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"object_center_z_for_grasp": 1.0497079799848181,
|
| 78 |
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|
| 79 |
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"finger_top_clearance": 0.053630431515590216,
|
| 80 |
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"fingertip_min_top_clearance": 0.01608912945467708,
|
| 81 |
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"object_projection_between_fingers": 0.8256183839211647,
|
| 82 |
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"object_to_finger_line_xy": 0.009921541844047864,
|
| 83 |
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"fingertip_xy_max_dist": 0.055,
|
| 84 |
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|
| 85 |
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"fingertip_line_xy_max_dist": 0.05134962071025828,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.545978633395371,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
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"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
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"stable_success_frames": 211,
|
| 96 |
+
"max_stable_success_frames": 211,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
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"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 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 |
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"last_frame": {
|
| 205 |
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"passed": true,
|
| 206 |
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"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"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/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"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/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"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,
|
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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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|
| 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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|
| 644 |
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"skill": "place",
|
| 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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|
| 651 |
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|
| 652 |
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|
| 653 |
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],
|
| 654 |
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"physical_semantics": {
|
| 655 |
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"attach_records": [],
|
| 656 |
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|
| 657 |
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|
| 658 |
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},
|
| 659 |
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"h5_episode_index": 87,
|
| 660 |
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"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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|
| 663 |
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|
| 665 |
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"step_seeds": [
|
| 666 |
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|
| 667 |
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| 668 |
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|
| 671 |
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|
| 672 |
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|
| 673 |
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|
| 674 |
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|
| 675 |
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|
| 676 |
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|
| 677 |
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|
| 678 |
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|
| 679 |
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|
| 680 |
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|
| 681 |
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|
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|
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|
| 684 |
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|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_88_success.json
ADDED
|
@@ -0,0 +1,686 @@
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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_a",
|
| 12 |
+
"success": true,
|
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_89_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 89,
|
| 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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.22058747068461304,
|
| 26 |
+
0.02420210733133455,
|
| 27 |
+
1.0500464913827665
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0500464913827665,
|
| 30 |
+
"required_z": 0.861106567619411,
|
| 31 |
+
"initial_z": 0.761106567619411,
|
| 32 |
+
"lift_margin": 0.18893992376335556,
|
| 33 |
+
"gripper_z": 1.0562570706040386,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.21538205573515332,
|
| 38 |
+
0.019320745369467804,
|
| 39 |
+
1.0562570706040386
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005205414949459725,
|
| 43 |
+
0.004881361961866747,
|
| 44 |
+
-0.006210579221272106
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.00713610814091395,
|
| 47 |
+
"object_to_gripper_z": -0.006210579221272106,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.22058747068461304,
|
| 51 |
+
-0.0003180121228077598,
|
| 52 |
+
1.0500464913827665
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.20876053406139794,
|
| 56 |
+
0.02420210733133455,
|
| 57 |
+
1.0500464913827665
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2146740023730055,
|
| 61 |
+
0.011942047604263395,
|
| 62 |
+
1.0500464913827665
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.00591346831160755,
|
| 66 |
+
0.012260059727071155,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027223384946309576,
|
| 70 |
+
"fingertip_max_gap": 0.09124224733192893,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013611692473154788,
|
| 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": 1.0500464913827665,
|
| 78 |
+
"object_top_z": 1.1001107552592218,
|
| 79 |
+
"finger_top_clearance": 0.05006426387645524,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015019279162936588,
|
| 81 |
+
"object_projection_between_fingers": 0.8112615906235529,
|
| 82 |
+
"object_to_finger_line_xy": 0.010652529042576585,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.048121123665964466,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.7430656405689884,
|
| 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": 212,
|
| 96 |
+
"max_stable_success_frames": 212,
|
| 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_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 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 |
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|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
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"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
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"caster",
|
| 611 |
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"defaultgroundplane",
|
| 612 |
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"desk",
|
| 613 |
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"floor",
|
| 614 |
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"ground",
|
| 615 |
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"groundplane",
|
| 616 |
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"link0",
|
| 617 |
+
"table",
|
| 618 |
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"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
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],
|
| 621 |
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"enabled": true
|
| 622 |
+
},
|
| 623 |
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"status": "active",
|
| 624 |
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"passed": true,
|
| 625 |
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"source_missing": false,
|
| 626 |
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"forbidden": [],
|
| 627 |
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"disturbances": [],
|
| 628 |
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"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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"allowed": [],
|
| 633 |
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"ignored": [],
|
| 634 |
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"failed_keys": []
|
| 635 |
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},
|
| 636 |
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"failed_keys": []
|
| 637 |
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}
|
| 638 |
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},
|
| 639 |
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"gripper": null,
|
| 640 |
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"post_done_wait_frames": 0,
|
| 641 |
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"post_done_wait_exhausted": false
|
| 642 |
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},
|
| 643 |
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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "heater_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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"attach_object_path": null,
|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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}
|
| 652 |
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}
|
| 653 |
+
],
|
| 654 |
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"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
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"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
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"h5_episode_index": 89,
|
| 660 |
+
"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 6428506004157355875,
|
| 663 |
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"physical_seed": 4650221932225994587,
|
| 664 |
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"layout_id": "layout_00014",
|
| 665 |
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"step_seeds": [
|
| 666 |
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|
| 667 |
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "6000e8e656cca4153b22a3d0d953772c208b442dbb2faef35bc5758e55545583",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "e0403a14512d0334705b104035e30fa7c57c5a1d87b646bf02a3712d1282b95c",
|
| 675 |
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"visual_seed": 5495546483242542763,
|
| 676 |
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"episode_index": 89,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_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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"runtime_workflow_digest": "28bdb79b5e87952c75c5e99c4256a8c7da3b2cd8ad606634f553e6e07a6efd41"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_8_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_90_success.json
ADDED
|
@@ -0,0 +1,686 @@
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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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2140534461911524,
|
| 26 |
+
0.029155263504830678,
|
| 27 |
+
1.0495322100032252
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0495322100032252,
|
| 30 |
+
"required_z": 0.8611064484101212,
|
| 31 |
+
"initial_z": 0.7611064484101212,
|
| 32 |
+
"lift_margin": 0.18842576159310398,
|
| 33 |
+
"gripper_z": 1.0550790547210083,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.20968153454826435,
|
| 38 |
+
0.024806030903887374,
|
| 39 |
+
1.0550790547210083
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0043719116428880545,
|
| 43 |
+
0.0043492326009433036,
|
| 44 |
+
-0.005546844717783106
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006166801085678715,
|
| 47 |
+
"object_to_gripper_z": -0.005546844717783106,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2140534461911524,
|
| 51 |
+
0.005000029547723917,
|
| 52 |
+
1.0495322100032252
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.203280072512349,
|
| 56 |
+
0.029155263504830678,
|
| 57 |
+
1.0495322100032252
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.20866675935175072,
|
| 61 |
+
0.017077646526277298,
|
| 62 |
+
1.0495322100032252
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005386686839401689,
|
| 66 |
+
0.01207761697855338,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026448835663327366,
|
| 70 |
+
"fingertip_max_gap": 0.09422846604638796,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013224417831663678,
|
| 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": 1.0495322100032252,
|
| 78 |
+
"object_top_z": 1.101407038187949,
|
| 79 |
+
"finger_top_clearance": 0.05187482818472389,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015562448455417183,
|
| 81 |
+
"object_projection_between_fingers": 0.8340832121398343,
|
| 82 |
+
"object_to_finger_line_xy": 0.009839123545225056,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04961423302319398,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.4417386954808955,
|
| 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": 212,
|
| 96 |
+
"max_stable_success_frames": 212,
|
| 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_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 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 |
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|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
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"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 146,
|
| 519 |
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"max_placed_release_frames": 146
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_a",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_a",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/beaker_2",
|
| 535 |
+
"/World/heat_device/heat_device/heat_device/plat"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
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"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
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"passed": true,
|
| 625 |
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"source_missing": false,
|
| 626 |
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"forbidden": [],
|
| 627 |
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"disturbances": [],
|
| 628 |
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"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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"allowed": [],
|
| 633 |
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"ignored": [],
|
| 634 |
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"failed_keys": []
|
| 635 |
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},
|
| 636 |
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"failed_keys": []
|
| 637 |
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}
|
| 638 |
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},
|
| 639 |
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"gripper": null,
|
| 640 |
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"post_done_wait_frames": 0,
|
| 641 |
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"post_done_wait_exhausted": false
|
| 642 |
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},
|
| 643 |
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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "heater_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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"attach_object_path": null,
|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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}
|
| 652 |
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}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
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"forbidden_shortcuts_absent": true
|
| 658 |
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},
|
| 659 |
+
"h5_episode_index": 90,
|
| 660 |
+
"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 6428506004157355875,
|
| 663 |
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"physical_seed": 4650221932225994587,
|
| 664 |
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"layout_id": "layout_00014",
|
| 665 |
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"step_seeds": [
|
| 666 |
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|
| 667 |
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "6000e8e656cca4153b22a3d0d953772c208b442dbb2faef35bc5758e55545583",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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|
| 675 |
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"visual_seed": 5370249973564428738,
|
| 676 |
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"episode_index": 90,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_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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"runtime_workflow_digest": "28bdb79b5e87952c75c5e99c4256a8c7da3b2cd8ad606634f553e6e07a6efd41"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_91_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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| 18 |
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| 19 |
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_93_success.json
ADDED
|
@@ -0,0 +1,686 @@
|
|
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|
| 1 |
+
{
|
| 2 |
+
"episode": 93,
|
| 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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.21714093543703297,
|
| 26 |
+
0.032513662189073166,
|
| 27 |
+
1.047447162764953
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.047447162764953,
|
| 30 |
+
"required_z": 0.861106508014766,
|
| 31 |
+
"initial_z": 0.761106508014766,
|
| 32 |
+
"lift_margin": 0.18634065475018713,
|
| 33 |
+
"gripper_z": 1.0530825352079554,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.21235033268270517,
|
| 38 |
+
0.027773772824083193,
|
| 39 |
+
1.0530825352079554
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0047906027543278,
|
| 43 |
+
0.004739889364989973,
|
| 44 |
+
-0.005635372443002273
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006739171012974678,
|
| 47 |
+
"object_to_gripper_z": -0.005635372443002273,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.21714093543703297,
|
| 51 |
+
0.008403292088905476,
|
| 52 |
+
1.047447162764953
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.20537821410751575,
|
| 56 |
+
0.032513662189073166,
|
| 57 |
+
1.047447162764953
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.21125957477227436,
|
| 61 |
+
0.020458477138989323,
|
| 62 |
+
1.047447162764953
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005881360664758611,
|
| 66 |
+
0.012055185050083843,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026826694903452783,
|
| 70 |
+
"fingertip_max_gap": 0.09077199542540473,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01341334745172639,
|
| 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": 1.047447162764953,
|
| 78 |
+
"object_top_z": 1.0972865407853671,
|
| 79 |
+
"finger_top_clearance": 0.04983937802041405,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014951813406124247,
|
| 81 |
+
"object_projection_between_fingers": 0.8077433917452873,
|
| 82 |
+
"object_to_finger_line_xy": 0.010571692325888973,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04788599771270237,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
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| 571 |
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| 572 |
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|
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| 596 |
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| 603 |
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|
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|
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| 685 |
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|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_94_success.json
ADDED
|
@@ -0,0 +1,686 @@
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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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| 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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| 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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| 57 |
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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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| 76 |
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| 88 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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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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| 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",
|
| 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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"panda_joint3",
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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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| 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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{
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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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{
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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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},
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}
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},
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| 238 |
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{
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| 239 |
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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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|
| 254 |
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|
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|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 94,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 6428506004157355875,
|
| 663 |
+
"physical_seed": 4650221932225994587,
|
| 664 |
+
"layout_id": "layout_00014",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
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|
| 667 |
+
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "6000e8e656cca4153b22a3d0d953772c208b442dbb2faef35bc5758e55545583",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "490da98e45e69c72b952e5f38a249b34f3143b32bbc6064b678f841b6c281f20",
|
| 675 |
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"visual_seed": 864521408034167186,
|
| 676 |
+
"episode_index": 94,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_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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"runtime_workflow_digest": "28bdb79b5e87952c75c5e99c4256a8c7da3b2cd8ad606634f553e6e07a6efd41"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_95_success.json
ADDED
|
@@ -0,0 +1,686 @@
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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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.21760842217654458,
|
| 26 |
+
0.023665155316817725,
|
| 27 |
+
1.0468733363830356
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0468733363830356,
|
| 30 |
+
"required_z": 0.861106508014766,
|
| 31 |
+
"initial_z": 0.761106508014766,
|
| 32 |
+
"lift_margin": 0.18576682836826963,
|
| 33 |
+
"gripper_z": 1.0523825005614191,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2129305058565553,
|
| 38 |
+
0.018951290258768294,
|
| 39 |
+
1.0523825005614191
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004677916319989289,
|
| 43 |
+
0.004713865058049431,
|
| 44 |
+
-0.005509164178383541
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006641040948700851,
|
| 47 |
+
"object_to_gripper_z": -0.005509164178383541,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_96_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 96,
|
| 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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.21409363737138462,
|
| 26 |
+
0.02697606890433058,
|
| 27 |
+
1.04910544629438
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.04910544629438,
|
| 30 |
+
"required_z": 0.8611064484101212,
|
| 31 |
+
"initial_z": 0.7611064484101212,
|
| 32 |
+
"lift_margin": 0.1879989978842589,
|
| 33 |
+
"gripper_z": 1.0547058110747247,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.21013876015836744,
|
| 38 |
+
0.02269962687204577,
|
| 39 |
+
1.0547058110747247
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.003954877213017183,
|
| 43 |
+
0.004276442032284812,
|
| 44 |
+
-0.005600364780344647
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005824861391100634,
|
| 47 |
+
"object_to_gripper_z": -0.005600364780344647,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.21409363737138462,
|
| 51 |
+
0.003417757619986634,
|
| 52 |
+
1.04910544629438
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.20307255026282034,
|
| 56 |
+
0.02697606890433058,
|
| 57 |
+
1.04910544629438
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2085830938171025,
|
| 61 |
+
0.015196913262158608,
|
| 62 |
+
1.04910544629438
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005510543554282127,
|
| 66 |
+
0.011779155642171973,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026008813729668814,
|
| 70 |
+
"fingertip_max_gap": 0.0975715984562299,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013004406864834402,
|
| 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": 1.04910544629438,
|
| 78 |
+
"object_top_z": 1.102817086422092,
|
| 79 |
+
"finger_top_clearance": 0.05371164012771201,
|
| 80 |
+
"fingertip_min_top_clearance": 0.016113492038313637,
|
| 81 |
+
"object_projection_between_fingers": 0.8204407505939159,
|
| 82 |
+
"object_to_finger_line_xy": 0.009982700614263424,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05128579922811495,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.673727515771275,
|
| 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": 211,
|
| 96 |
+
"max_stable_success_frames": 211,
|
| 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_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 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 |
+
"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/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"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/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
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+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
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"wrist_2_joint",
|
| 606 |
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"wrist_3_joint"
|
| 607 |
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],
|
| 608 |
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"ignored_prim_substrings": [
|
| 609 |
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"base_link",
|
| 610 |
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|
| 611 |
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"defaultgroundplane",
|
| 612 |
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"desk",
|
| 613 |
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|
| 614 |
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|
| 615 |
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"groundplane",
|
| 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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"enabled": true
|
| 622 |
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},
|
| 623 |
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|
| 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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"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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|
| 633 |
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|
| 634 |
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"failed_keys": []
|
| 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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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "heater_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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"attach_object_path": null,
|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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}
|
| 652 |
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}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
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"ordinary_attach_violations": [],
|
| 657 |
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"forbidden_shortcuts_absent": true
|
| 658 |
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},
|
| 659 |
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"h5_episode_index": 96,
|
| 660 |
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"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 6428506004157355875,
|
| 663 |
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"physical_seed": 4650221932225994587,
|
| 664 |
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"layout_id": "layout_00014",
|
| 665 |
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"step_seeds": [
|
| 666 |
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|
| 667 |
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "6000e8e656cca4153b22a3d0d953772c208b442dbb2faef35bc5758e55545583",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
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|
| 673 |
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|
| 674 |
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"task_island_state_digest": "3505021a0ebc1d2fcd035e54d11a00760f9a617cb7d3d6be2c35dfc2fde765c2",
|
| 675 |
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|
| 676 |
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|
| 677 |
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|
| 678 |
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|
| 679 |
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"runtime_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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|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_99_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 99,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00014/results/episode_9_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 9,
|
| 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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2196804921811661,
|
| 26 |
+
0.025444659821842477,
|
| 27 |
+
1.0490291144975399
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0490291144975399,
|
| 30 |
+
"required_z": 0.8611065080147658,
|
| 31 |
+
"initial_z": 0.7611065080147659,
|
| 32 |
+
"lift_margin": 0.18792260648277404,
|
| 33 |
+
"gripper_z": 1.0547267126431348,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.21510083359462254,
|
| 38 |
+
0.020982379989669203,
|
| 39 |
+
1.0547267126431348
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.00457965858654355,
|
| 43 |
+
0.004462279832173274,
|
| 44 |
+
-0.005697598145594895
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006394154679855845,
|
| 47 |
+
"object_to_gripper_z": -0.005697598145594895,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2196804921811661,
|
| 51 |
+
0.001153452831092333,
|
| 52 |
+
1.0490291144975399
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.20873057604264247,
|
| 56 |
+
0.025444659821842477,
|
| 57 |
+
1.0490291144975399
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2142055341119043,
|
| 61 |
+
0.013299056326467405,
|
| 62 |
+
1.0490291144975399
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005474958069261793,
|
| 66 |
+
0.012145603495375072,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026645138402871332,
|
| 70 |
+
"fingertip_max_gap": 0.09337518319576052,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01332256920143566,
|
| 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": 1.0490291144975399,
|
| 78 |
+
"object_top_z": 1.100372630547815,
|
| 79 |
+
"finger_top_clearance": 0.051343516050275095,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015403054815082511,
|
| 81 |
+
"object_projection_between_fingers": 0.8311171204672256,
|
| 82 |
+
"object_to_finger_line_xy": 0.00998255949849259,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04918759159788026,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.1052506978489214,
|
| 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": 210,
|
| 96 |
+
"max_stable_success_frames": 210,
|
| 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_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 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",
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