Upload folder using huggingface_hub (part 93)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_84_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_86_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_90_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_91_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_93_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_95_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_96_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_97_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_98_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_9_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/summary.json +9 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0000.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0001.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0002.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0003.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0005.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0007.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0008.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0010.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0011.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0013.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0015.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0016.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0018.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0019.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0021.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0022.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0023.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0024.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0025.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0026.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0027.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0028.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0029.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0030.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0031.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0032.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0034.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0035.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0036.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0037.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0038.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0039.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0040.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0041.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0042.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0043.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0044.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0045.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0046.h5 +3 -0
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_84_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 84,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 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 |
+
0.3494539815600838,
|
| 26 |
+
0.35106342069646784,
|
| 27 |
+
1.053219489008228
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.053219489008228,
|
| 30 |
+
"required_z": 0.8611067464333453,
|
| 31 |
+
"initial_z": 0.7611067464333453,
|
| 32 |
+
"lift_margin": 0.19211274257488276,
|
| 33 |
+
"gripper_z": 1.0516908201190702,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.34373069009737184,
|
| 38 |
+
0.3459105212796175,
|
| 39 |
+
1.0516908201190702
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0057232914627119436,
|
| 43 |
+
0.005152899416850321,
|
| 44 |
+
0.0015286688891578137
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.007701197151568566,
|
| 47 |
+
"object_to_gripper_z": 0.0015286688891578137,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3494539815600838,
|
| 51 |
+
0.32617588701877226,
|
| 52 |
+
1.053219489008228
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.3371517721278363,
|
| 56 |
+
0.35106342069646784,
|
| 57 |
+
1.053219489008228
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.34330287684396005,
|
| 61 |
+
0.33861965385762005,
|
| 62 |
+
1.053219489008228
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.006151104716123734,
|
| 66 |
+
0.012443766838847792,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027762090869985108,
|
| 70 |
+
"fingertip_max_gap": 0.09137563085271508,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013881045434992554,
|
| 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": 1.053219489008228,
|
| 78 |
+
"object_top_z": 1.10366098918938,
|
| 79 |
+
"finger_top_clearance": 0.05044150018115201,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015132450054345603,
|
| 81 |
+
"object_projection_between_fingers": 0.8036359912873389,
|
| 82 |
+
"object_to_finger_line_xy": 0.011028407514008234,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04818781542635754,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.5855886850894447,
|
| 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": 231,
|
| 96 |
+
"max_stable_success_frames": 231,
|
| 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": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.350668491297345,
|
| 257 |
+
0.3486771423845143,
|
| 258 |
+
1.2425562810254058
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.35687268757911605,
|
| 262 |
+
0.35326122366814533,
|
| 263 |
+
1.2439909933348612
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.007846289067360485,
|
| 272 |
+
"max_held_gripper_dist": 0.007855521664812157,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.0014347123094553549,
|
| 275 |
+
"max_held_gripper_z_dist": 0.0015947077117657305,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.09006339325043611,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.35687268757911605,
|
| 285 |
+
0.3271414591800434,
|
| 286 |
+
1.2439909933348612
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.3469078333378989,
|
| 290 |
+
0.3535665077555662,
|
| 291 |
+
1.2439909933348612
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.35189026045850746,
|
| 295 |
+
0.34035398346780477,
|
| 296 |
+
1.2439909933348612
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.35687268757911605,
|
| 300 |
+
0.35326122366814533,
|
| 301 |
+
1.2439909933348612
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.028241485659707136,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.025268812119705556,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.10185227713925278,
|
| 313 |
+
-0.994653052024305,
|
| 314 |
+
0.017071020481623896
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0036488067006125017,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03637455266370119,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.33525484745429857,
|
| 480 |
+
-0.3617737390495919,
|
| 481 |
+
0.8515395193801747
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3262751127652342,
|
| 485 |
+
-0.3643333220649172,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.009337403295259755,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18561202741206329,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8515395193801747,
|
| 495 |
+
"min_z": 0.5774145980897916,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07536128814071108,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08636468516419642,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15440896673004428,
|
| 506 |
+
"release_required_pad_clearance": 0.05318234258209821,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 1.3881594688431043,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 153,
|
| 519 |
+
"max_placed_release_frames": 153
|
| 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 |
+
"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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008535146713256836,
|
| 669 |
+
"max_z_decrease": 0.008535146713256836,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.035073954941214056,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008535146713256836,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 79,
|
| 681 |
+
"contact_point_distance": 0.021039765277173106,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 121,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008535146713256836,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 79,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008535222333549473,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18197503685951233,
|
| 698 |
+
-0.42059478163719166,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18197503685951233,
|
| 703 |
+
-0.42059478163719166,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18031441207001078,
|
| 708 |
+
-0.41849064563180977,
|
| 709 |
+
0.803244573817708
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18200679123401642,
|
| 713 |
+
-0.42057797312736506,
|
| 714 |
+
0.7682737112045288
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.0016923791640056363,
|
| 718 |
+
0.002087327495555291,
|
| 719 |
+
0.034970862613179166
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18200679123401642,
|
| 723 |
+
-0.42057797312736506,
|
| 724 |
+
0.7682737112045288
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.1464841083590794,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.053009822964668274,
|
| 729 |
+
-0.48080679774284363,
|
| 730 |
+
0.8102871775627136
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18198084831237793,
|
| 734 |
+
-0.42059758305549616,
|
| 735 |
+
0.7756617665290833
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.12897102534770966,
|
| 740 |
+
-0.06020921468734747,
|
| 741 |
+
0.03462541103363037
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.021039765277173106,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18200679123401642,
|
| 746 |
+
-0.42057797312736506,
|
| 747 |
+
0.7893134764817019
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18200679123401642,
|
| 751 |
+
-0.42057797312736506,
|
| 752 |
+
0.7682737112045288
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
0.0,
|
| 758 |
+
0.021039765277173106
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 84,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 2795588802749883146,
|
| 901 |
+
"physical_seed": 2289185594570977662,
|
| 902 |
+
"layout_id": "layout_00033",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
6816342363077730166,
|
| 905 |
+
4358494381448953216,
|
| 906 |
+
412513956277572572,
|
| 907 |
+
5816647056012353206
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "6d2661ffae3bb0a205b51ea179b89908a9219c0580d15f29777fdd0ff2580d13",
|
| 914 |
+
"visual_seed": 7916824388970401260,
|
| 915 |
+
"episode_index": 84,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
6816342363077730166,
|
| 920 |
+
4358494381448953216,
|
| 921 |
+
412513956277572572,
|
| 922 |
+
5816647056012353206
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_86_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 86,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 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 |
+
0.34796362747641224,
|
| 26 |
+
0.35457955267160957,
|
| 27 |
+
1.054351971265985
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.054351971265985,
|
| 30 |
+
"required_z": 0.8611067464333451,
|
| 31 |
+
"initial_z": 0.7611067464333451,
|
| 32 |
+
"lift_margin": 0.19324522483263995,
|
| 33 |
+
"gripper_z": 1.0528921923255405,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.3422784728153623,
|
| 38 |
+
0.34933051189875947,
|
| 39 |
+
1.0528921923255405
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005685154661049963,
|
| 43 |
+
0.0052490407728501,
|
| 44 |
+
0.0014597789404444672
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.0077377911935578155,
|
| 47 |
+
"object_to_gripper_z": 0.0014597789404444672,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.34796362747641224,
|
| 51 |
+
0.329825114046999,
|
| 52 |
+
1.054351971265985
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.3353940371852052,
|
| 56 |
+
0.35457955267160957,
|
| 57 |
+
1.054351971265985
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.34167883233080876,
|
| 61 |
+
0.3422023333593043,
|
| 62 |
+
1.054351971265985
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.006284795145603483,
|
| 66 |
+
0.012377219312305288,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02776286785813774,
|
| 70 |
+
"fingertip_max_gap": 0.09138150904898576,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013881433929068859,
|
| 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": 1.054351971265985,
|
| 78 |
+
"object_top_z": 1.105028195171035,
|
| 79 |
+
"finger_top_clearance": 0.05067622390505,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015202867171514999,
|
| 81 |
+
"object_projection_between_fingers": 0.7950190073323653,
|
| 82 |
+
"object_to_finger_line_xy": 0.01120752917134176,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04819075452449288,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.6895073382429795,
|
| 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": 232,
|
| 96 |
+
"max_stable_success_frames": 232,
|
| 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": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.3492424631825385,
|
| 257 |
+
0.35218007304862464,
|
| 258 |
+
1.2404633170709563
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.35547585894546274,
|
| 262 |
+
0.35680680133694487,
|
| 263 |
+
1.2417734148796562
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.00787262304823145,
|
| 272 |
+
"max_held_gripper_dist": 0.007880087095507353,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.0013100978086999504,
|
| 275 |
+
"max_held_gripper_z_dist": 0.0014764262496729241,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.09000938709868506,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.35547585894546274,
|
| 285 |
+
0.3306753776054166,
|
| 286 |
+
1.2417734148796562
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.3455386648617981,
|
| 290 |
+
0.35701414604264636,
|
| 291 |
+
1.2417734148796562
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.3505072619036304,
|
| 295 |
+
0.34384476182403145,
|
| 296 |
+
1.2417734148796562
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.35547585894546274,
|
| 300 |
+
0.35680680133694487,
|
| 301 |
+
1.2417734148796562
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.028150995524962006,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.02513143562820167,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.10587714195125429,
|
| 313 |
+
-0.9941071238465585,
|
| 314 |
+
0.02326063476685347
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0035815193373461237,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03630853339643062,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.33904960854632316,
|
| 480 |
+
-0.3630701412047571,
|
| 481 |
+
0.8515396036614804
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3296434286697636,
|
| 485 |
+
-0.36586190199025326,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.009811735226433095,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.1866050549905343,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8515396036614804,
|
| 495 |
+
"min_z": 0.5774145980897916,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07556471197254402,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08547633035466688,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.1547590985381281,
|
| 506 |
+
"release_required_pad_clearance": 0.05273816517733344,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.5278591521847434,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 154,
|
| 519 |
+
"max_placed_release_frames": 154
|
| 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 |
+
"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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008509516716003418,
|
| 669 |
+
"max_z_decrease": 0.008509516716003418,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.034989064974757754,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008509516716003418,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 79,
|
| 681 |
+
"contact_point_distance": 0.020983874120201543,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 121,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008509516716003418,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 79,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008509641341063006,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18534335494041437,
|
| 698 |
+
-0.42212337255477905,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18534335494041437,
|
| 703 |
+
-0.42212337255477905,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18492423066156516,
|
| 708 |
+
-0.4221140474609385,
|
| 709 |
+
0.8032854644306119
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.1853774189949035,
|
| 713 |
+
-0.42209237813949585,
|
| 714 |
+
0.7682993412017822
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.0004531883333383502,
|
| 718 |
+
-2.1669321442652212e-05,
|
| 719 |
+
0.03498612322882966
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.1853774189949035,
|
| 723 |
+
-0.42209237813949585,
|
| 724 |
+
0.7682993412017822
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14620685967230565,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.059038497507572174,
|
| 729 |
+
-0.4872227907180786,
|
| 730 |
+
0.8104928731918335
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18534754216670987,
|
| 734 |
+
-0.4221256375312806,
|
| 735 |
+
0.7760714888572693
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.1263090446591377,
|
| 740 |
+
-0.06509715318679804,
|
| 741 |
+
0.03442138433456421
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.020983874120201543,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.1853774189949035,
|
| 746 |
+
-0.4230773097140267,
|
| 747 |
+
0.7892600874405485
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.1853774189949035,
|
| 751 |
+
-0.42209237813949585,
|
| 752 |
+
0.7682993412017822
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.000984931574530834,
|
| 758 |
+
0.020960746238766315
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 86,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 2795588802749883146,
|
| 901 |
+
"physical_seed": 2289185594570977662,
|
| 902 |
+
"layout_id": "layout_00033",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
6816342363077730166,
|
| 905 |
+
4358494381448953216,
|
| 906 |
+
412513956277572572,
|
| 907 |
+
5816647056012353206
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "cc3b58e6ff0481bade2ca4eff7361d9a5480d4be9d8a3f16cf98b136ca6a4642",
|
| 914 |
+
"visual_seed": 8885016304997804633,
|
| 915 |
+
"episode_index": 86,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
6816342363077730166,
|
| 920 |
+
4358494381448953216,
|
| 921 |
+
412513956277572572,
|
| 922 |
+
5816647056012353206
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_90_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 90,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 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 |
+
0.3406641135792949,
|
| 26 |
+
0.35730953225636897,
|
| 27 |
+
1.0556612735432194
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0556612735432194,
|
| 30 |
+
"required_z": 0.8611066868287005,
|
| 31 |
+
"initial_z": 0.7611066868287005,
|
| 32 |
+
"lift_margin": 0.19455458671451886,
|
| 33 |
+
"gripper_z": 1.0543555207175122,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.33497274764315044,
|
| 38 |
+
0.3519814031996418,
|
| 39 |
+
1.0543555207175122
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0056913659361444435,
|
| 43 |
+
0.005328129056727193,
|
| 44 |
+
0.0013057528257072182
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.007796191728289263,
|
| 47 |
+
"object_to_gripper_z": 0.0013057528257072182,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3406641135792949,
|
| 51 |
+
0.3326127357042079,
|
| 52 |
+
1.0556612735432194
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.32791433884129795,
|
| 56 |
+
0.35730953225636897,
|
| 57 |
+
1.0556612735432194
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.33428922621029644,
|
| 61 |
+
0.34496113398028844,
|
| 62 |
+
1.0556612735432194
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.006374887368998439,
|
| 66 |
+
0.01234839827608053,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027793677622950496,
|
| 70 |
+
"fingertip_max_gap": 0.09182897836808188,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013896838811475236,
|
| 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": 1.0556612735432194,
|
| 78 |
+
"object_top_z": 1.1065694992075241,
|
| 79 |
+
"finger_top_clearance": 0.05090822566430475,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015272467699291392,
|
| 81 |
+
"object_projection_between_fingers": 0.7895674142164687,
|
| 82 |
+
"object_to_finger_line_xy": 0.011329144601223407,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04841448918404094,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.835465457144709,
|
| 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": 233,
|
| 96 |
+
"max_stable_success_frames": 233,
|
| 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": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.34181607786985946,
|
| 257 |
+
0.3552745448434462,
|
| 258 |
+
1.2436840994301945
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.3480425565246312,
|
| 262 |
+
0.35998548851104006,
|
| 263 |
+
1.2448939785013518
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.007901002091152395,
|
| 272 |
+
"max_held_gripper_dist": 0.007908853806682008,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.001209879071157216,
|
| 275 |
+
"max_held_gripper_z_dist": 0.0013636228313935739,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08994582666215023,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.3480425565246312,
|
| 285 |
+
0.3339070311503415,
|
| 286 |
+
1.2448939785013518
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.33780598988229305,
|
| 290 |
+
0.35998548851104006,
|
| 291 |
+
1.2448939785013518
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.3429242732034621,
|
| 295 |
+
0.3469462598306908,
|
| 296 |
+
1.2448939785013518
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.3480425565246312,
|
| 300 |
+
0.35998548851104006,
|
| 301 |
+
1.2448939785013518
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02801558914134778,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.024880338118462113,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.1028671098837372,
|
| 313 |
+
-0.9944355137805979,
|
| 314 |
+
0.02272370207702812
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0037619854948546367,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03622707498523441,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3342179908131026,
|
| 480 |
+
-0.36816790806514055,
|
| 481 |
+
0.8515396055618446
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3268871720881741,
|
| 485 |
+
-0.36997339025840237,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.0075498787492216165,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18491356433911144,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8515396055618446,
|
| 495 |
+
"min_z": 0.5774145980897916,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.0755835556337128,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08585394939304396,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15296346483815706,
|
| 506 |
+
"release_required_pad_clearance": 0.05292697469652198,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.8917448855151127,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 152,
|
| 519 |
+
"max_placed_release_frames": 152
|
| 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 |
+
"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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008500516414642334,
|
| 669 |
+
"max_z_decrease": 0.008500516414642334,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03501034369938534,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008500516414642334,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.0209675609367259,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008500516414642334,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008500557958965685,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.1825871020555495,
|
| 698 |
+
-0.4262348413467407,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.1825871020555495,
|
| 703 |
+
-0.4262348413467407,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18119500741701514,
|
| 708 |
+
-0.4258786293699241,
|
| 709 |
+
0.8036561384546249
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18258203566074363,
|
| 713 |
+
-0.4261971712112427,
|
| 714 |
+
0.7686747312545776
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.0013870282437284942,
|
| 718 |
+
0.0003185418413185759,
|
| 719 |
+
0.034981407200047276
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.1825850158929824,
|
| 723 |
+
-0.42620834708213806,
|
| 724 |
+
0.7683083415031433
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14693011239676587,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.054687246680259705,
|
| 729 |
+
-0.48983490467071533,
|
| 730 |
+
0.8103901147842407
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18258954584598533,
|
| 734 |
+
-0.4262380301952362,
|
| 735 |
+
0.7759677767753601
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.12790229916572562,
|
| 740 |
+
-0.06359687447547913,
|
| 741 |
+
0.034422338008880615
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.0209675609367259,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.1825850158929824,
|
| 746 |
+
-0.42694642512919406,
|
| 747 |
+
0.7892629078892981
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.1825850158929824,
|
| 751 |
+
-0.42620834708213806,
|
| 752 |
+
0.7683083415031433
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.0007380780470560011,
|
| 758 |
+
0.020954566386154783
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 90,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 2795588802749883146,
|
| 901 |
+
"physical_seed": 2289185594570977662,
|
| 902 |
+
"layout_id": "layout_00033",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
6816342363077730166,
|
| 905 |
+
4358494381448953216,
|
| 906 |
+
412513956277572572,
|
| 907 |
+
5816647056012353206
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "ee41ba7600326136ee2d0595605e747c06dd90b780e382145daa2823844f2880",
|
| 914 |
+
"visual_seed": 6765210147671850686,
|
| 915 |
+
"episode_index": 90,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
6816342363077730166,
|
| 920 |
+
4358494381448953216,
|
| 921 |
+
412513956277572572,
|
| 922 |
+
5816647056012353206
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_91_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 91,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 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 |
+
0.34843843847632183,
|
| 26 |
+
0.3564598048925703,
|
| 27 |
+
1.0570205726424664
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0570205726424664,
|
| 30 |
+
"required_z": 0.8611064484101211,
|
| 31 |
+
"initial_z": 0.7611064484101211,
|
| 32 |
+
"lift_margin": 0.19591412423234533,
|
| 33 |
+
"gripper_z": 1.0554614957285997,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.34289437599999384,
|
| 38 |
+
0.35120592757312175,
|
| 39 |
+
1.0554614957285997
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005544062476327993,
|
| 43 |
+
0.005253877319448541,
|
| 44 |
+
0.0015590769138666971
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.00763805313082096,
|
| 47 |
+
"object_to_gripper_z": 0.0015590769138666971,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.34843843847632183,
|
| 51 |
+
0.33186602191151926,
|
| 52 |
+
1.0570205726424664
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.335793300703908,
|
| 56 |
+
0.3564598048925703,
|
| 57 |
+
1.0570205726424664
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.3421158695901149,
|
| 61 |
+
0.34416291340204475,
|
| 62 |
+
1.0570205726424664
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.006322568886206914,
|
| 66 |
+
0.012296891490525541,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027654179984269323,
|
| 70 |
+
"fingertip_max_gap": 0.09140299582035707,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013827089992134686,
|
| 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": 1.0570205726424664,
|
| 78 |
+
"object_top_z": 1.1077210109671645,
|
| 79 |
+
"finger_top_clearance": 0.05070043832469806,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015210131497409417,
|
| 81 |
+
"object_projection_between_fingers": 0.7909137079951752,
|
| 82 |
+
"object_to_finger_line_xy": 0.011245742029492077,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04820149791017854,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.7201039365119336,
|
| 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": 235,
|
| 96 |
+
"max_stable_success_frames": 235,
|
| 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": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.34999529076645275,
|
| 257 |
+
0.3544578942151529,
|
| 258 |
+
1.2442467568663804
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.35611029562628416,
|
| 262 |
+
0.35906820047373206,
|
| 263 |
+
1.2456781668632155
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.007790837106030099,
|
| 272 |
+
"max_held_gripper_dist": 0.007799816781620273,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.001431409996835109,
|
| 275 |
+
"max_held_gripper_z_dist": 0.001593671124803242,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08986980320384674,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.35611029562628416,
|
| 285 |
+
0.3329894083877199,
|
| 286 |
+
1.2456781668632155
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.3462052652908453,
|
| 290 |
+
0.35916848108924365,
|
| 291 |
+
1.2456781668632155
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.3511577804585647,
|
| 295 |
+
0.3460789447384818,
|
| 296 |
+
1.2456781668632155
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.35611029562628416,
|
| 300 |
+
0.35906820047373206,
|
| 301 |
+
1.2456781668632155
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02799023889604429,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.024906072891595188,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.1114022721210299,
|
| 313 |
+
-0.9935231882707947,
|
| 314 |
+
0.022387678184820677
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0034873209193248384,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03626340185634668,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3310355081289601,
|
| 480 |
+
-0.3613246893016492,
|
| 481 |
+
0.8515395688351605
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.32329893707348933,
|
| 485 |
+
-0.36330796084032696,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.00798673260429303,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18424957216022955,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8515395688351605,
|
| 495 |
+
"min_z": 0.5774145980897916,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07577492251516593,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08501669904506091,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.1519219461890543,
|
| 506 |
+
"release_required_pad_clearance": 0.05250834952253046,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.0884693203413387,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 151,
|
| 519 |
+
"max_placed_release_frames": 151
|
| 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 |
+
"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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008638203144073486,
|
| 669 |
+
"max_z_decrease": 0.008638203144073486,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.0350358212525378,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008638203144073486,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 79,
|
| 681 |
+
"contact_point_distance": 0.021094578038190648,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 121,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008638203144073486,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 79,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008638427413907274,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.17899885773658747,
|
| 698 |
+
-0.4195694327354431,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.17899885773658747,
|
| 703 |
+
-0.4195694327354431,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18031721374993415,
|
| 708 |
+
-0.42019052168669646,
|
| 709 |
+
0.8035457760954745
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.17896774411201471,
|
| 713 |
+
-0.4195307493209839,
|
| 714 |
+
0.7685421705245972
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
0.0013494696379194315,
|
| 718 |
+
-0.0006597723657125742,
|
| 719 |
+
0.03500360557087734
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.1789542287588119,
|
| 723 |
+
-0.41952604055404663,
|
| 724 |
+
0.7681706547737122
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.1444814961411345,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.0395326092839241,
|
| 729 |
+
-0.40448877215385437,
|
| 730 |
+
0.8089123368263245
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.17900487780570978,
|
| 734 |
+
-0.4195748567581177,
|
| 735 |
+
0.7743464708328247
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 0,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.13947226852178568,
|
| 740 |
+
0.015086084604263306,
|
| 741 |
+
0.034565865993499756
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.021094578038190648,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.1789542287588119,
|
| 746 |
+
-0.42132331450616106,
|
| 747 |
+
0.7891885288086941
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.1789542287588119,
|
| 751 |
+
-0.41952604055404663,
|
| 752 |
+
0.7681706547737122
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.001797273952114431,
|
| 758 |
+
0.021017874034981898
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 91,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 2795588802749883146,
|
| 901 |
+
"physical_seed": 2289185594570977662,
|
| 902 |
+
"layout_id": "layout_00033",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
6816342363077730166,
|
| 905 |
+
4358494381448953216,
|
| 906 |
+
412513956277572572,
|
| 907 |
+
5816647056012353206
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "d627aa31a18cec35d38a9a049267f271d34c8fba7d2dc9bbb2a14945521d85a8",
|
| 914 |
+
"visual_seed": 5377941356141535556,
|
| 915 |
+
"episode_index": 91,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
6816342363077730166,
|
| 920 |
+
4358494381448953216,
|
| 921 |
+
412513956277572572,
|
| 922 |
+
5816647056012353206
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_93_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 93,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 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 |
+
0.3405693493422813,
|
| 26 |
+
0.35503886593744555,
|
| 27 |
+
1.052967399698958
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.052967399698958,
|
| 30 |
+
"required_z": 0.861106508014766,
|
| 31 |
+
"initial_z": 0.761106508014766,
|
| 32 |
+
"lift_margin": 0.19186089168419196,
|
| 33 |
+
"gripper_z": 1.051523801898456,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.334979022710076,
|
| 38 |
+
0.34991871116485257,
|
| 39 |
+
1.051523801898456
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005590326632205267,
|
| 43 |
+
0.0051201547725929775,
|
| 44 |
+
0.0014435978005018502
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.0075807477698476506,
|
| 47 |
+
"object_to_gripper_z": 0.0014435978005018502,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3405693493422813,
|
| 51 |
+
0.3302168266046211,
|
| 52 |
+
1.052967399698958
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.3283639955112713,
|
| 56 |
+
0.35503886593744555,
|
| 57 |
+
1.052967399698958
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.3344666724267763,
|
| 61 |
+
0.3426278462710333,
|
| 62 |
+
1.052967399698958
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.006102676915504979,
|
| 66 |
+
0.012411019666412226,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027660518772800225,
|
| 70 |
+
"fingertip_max_gap": 0.09188737669079591,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013830259386400113,
|
| 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": 1.052967399698958,
|
| 78 |
+
"object_top_z": 1.1036954588884187,
|
| 79 |
+
"finger_top_clearance": 0.05072805918946077,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01521841775683823,
|
| 81 |
+
"object_projection_between_fingers": 0.8052936542408574,
|
| 82 |
+
"object_to_finger_line_xy": 0.010952859393305543,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04844368834539796,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.7862504339778345,
|
| 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": 230,
|
| 96 |
+
"max_stable_success_frames": 230,
|
| 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": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.34169014969413125,
|
| 257 |
+
0.3533126438586394,
|
| 258 |
+
1.2421087817900682
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.34771453510966677,
|
| 262 |
+
0.35793228144396216,
|
| 263 |
+
1.2434741310051423
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.007713523807816169,
|
| 272 |
+
"max_held_gripper_dist": 0.007721893282264391,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.0013653492150740298,
|
| 275 |
+
"max_held_gripper_z_dist": 0.001510631138493812,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08994402326349737,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.34771453510966677,
|
| 285 |
+
0.33196401882192933,
|
| 286 |
+
1.2434741310051423
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.33762189746354554,
|
| 290 |
+
0.35793228144396216,
|
| 291 |
+
1.2434741310051423
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.34266821628660615,
|
| 295 |
+
0.3449481501329458,
|
| 296 |
+
1.2434741310051423
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.34771453510966677,
|
| 300 |
+
0.35793228144396216,
|
| 301 |
+
1.2434741310051423
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02786058144157747,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.024897965467759492,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.09413149174007515,
|
| 313 |
+
-0.9953688808988757,
|
| 314 |
+
0.019494953216359856
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.003810422855196989,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03632123229899388,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3285339901555962,
|
| 480 |
+
-0.3691686605790479,
|
| 481 |
+
0.8515395953376426
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.320857758334787,
|
| 485 |
+
-0.37123564339166565,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.007949651119040415,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18464563411449278,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8515395953376426,
|
| 495 |
+
"min_z": 0.5774145980897916,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07537488158168805,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08572286228556751,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15322713833422094,
|
| 506 |
+
"release_required_pad_clearance": 0.05286143114278376,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.7651459480079088,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 151,
|
| 519 |
+
"max_placed_release_frames": 151
|
| 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 |
+
"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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008623063564300537,
|
| 669 |
+
"max_z_decrease": 0.008623063564300537,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03503273170500722,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008623063564300537,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 79,
|
| 681 |
+
"contact_point_distance": 0.020885329415271103,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 121,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008623063564300537,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 79,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.00862313737325087,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.1765576899051666,
|
| 698 |
+
-0.42749708890914906,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.1765576899051666,
|
| 703 |
+
-0.42749708890914906,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.17625164374004082,
|
| 708 |
+
-0.42579702142085585,
|
| 709 |
+
0.8031776519353061
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.17654898762702942,
|
| 713 |
+
-0.42746248841285694,
|
| 714 |
+
0.7681857943534851
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.00029734388698859915,
|
| 718 |
+
0.0016654669920010967,
|
| 719 |
+
0.034991857581820995
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.17654898762702942,
|
| 723 |
+
-0.42746248841285694,
|
| 724 |
+
0.7681857943534851
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.1453383220608401,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.050295449793338776,
|
| 729 |
+
-0.4908125400543213,
|
| 730 |
+
0.8104467988014221
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.1765594184398651,
|
| 734 |
+
-0.4274995923042296,
|
| 735 |
+
0.7762107253074646
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.12626396864652634,
|
| 740 |
+
-0.06331294775009166,
|
| 741 |
+
0.03423607349395752
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.020885329415271103,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.17654898762702942,
|
| 746 |
+
-0.42746248841285694,
|
| 747 |
+
0.7890711237687562
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.17654898762702942,
|
| 751 |
+
-0.42746248841285694,
|
| 752 |
+
0.7681857943534851
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
0.0,
|
| 758 |
+
0.020885329415271103
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 93,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 2795588802749883146,
|
| 901 |
+
"physical_seed": 2289185594570977662,
|
| 902 |
+
"layout_id": "layout_00033",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
6816342363077730166,
|
| 905 |
+
4358494381448953216,
|
| 906 |
+
412513956277572572,
|
| 907 |
+
5816647056012353206
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "25952a729217eb4b8f168f77b90e07d834213a8b053b96455d47eddd31906dc4",
|
| 914 |
+
"visual_seed": 6241845970142336475,
|
| 915 |
+
"episode_index": 93,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
6816342363077730166,
|
| 920 |
+
4358494381448953216,
|
| 921 |
+
412513956277572572,
|
| 922 |
+
5816647056012353206
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_95_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 95,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 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 |
+
0.3486759615678185,
|
| 26 |
+
0.35264882738439113,
|
| 27 |
+
1.0542930366443173
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0542930366443173,
|
| 30 |
+
"required_z": 0.8611064484101211,
|
| 31 |
+
"initial_z": 0.7611064484101211,
|
| 32 |
+
"lift_margin": 0.1931865882341962,
|
| 33 |
+
"gripper_z": 1.052722333203775,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.34309188443777205,
|
| 38 |
+
0.34746393792542285,
|
| 39 |
+
1.052722333203775
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005584077130046439,
|
| 43 |
+
0.005184889458968278,
|
| 44 |
+
0.0015707034405423315
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.007620039113812214,
|
| 47 |
+
"object_to_gripper_z": 0.0015707034405423315,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3486759615678185,
|
| 51 |
+
0.32795315607915526,
|
| 52 |
+
1.0542930366443173
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.33620907638501984,
|
| 56 |
+
0.35264882738439113,
|
| 57 |
+
1.0542930366443173
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.3424425189764192,
|
| 61 |
+
0.3403009917317732,
|
| 62 |
+
1.0542930366443173
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.006233442591399296,
|
| 66 |
+
0.012347835652617933,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027664045390675143,
|
| 70 |
+
"fingertip_max_gap": 0.0910398825508367,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01383202269533756,
|
| 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": 1.0542930366443173,
|
| 78 |
+
"object_top_z": 1.1047833952868378,
|
| 79 |
+
"finger_top_clearance": 0.050490358642520494,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015147107592756181,
|
| 81 |
+
"object_projection_between_fingers": 0.7969118691810874,
|
| 82 |
+
"object_to_finger_line_xy": 0.011129178481549526,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04801994127541835,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.5949630701568084,
|
| 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": 232,
|
| 96 |
+
"max_stable_success_frames": 232,
|
| 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": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.35023851681570867,
|
| 257 |
+
0.3501046679518313,
|
| 258 |
+
1.2415590740391833
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.35638754084234553,
|
| 262 |
+
0.35464058725570635,
|
| 263 |
+
1.2429883512608049
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.007773538048255109,
|
| 272 |
+
"max_held_gripper_dist": 0.0077836238919669265,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.001429277221621561,
|
| 275 |
+
"max_held_gripper_z_dist": 0.0015949518828690668,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.09040963262535384,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.35638754084234553,
|
| 285 |
+
0.32848610351603347,
|
| 286 |
+
1.2429883512608049
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.34670263605446683,
|
| 290 |
+
0.3552853790893796,
|
| 291 |
+
1.2429883512608049
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.35154508844840615,
|
| 295 |
+
0.34188574130270655,
|
| 296 |
+
1.2429883512608049
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.35638754084234553,
|
| 300 |
+
0.35464058725570635,
|
| 301 |
+
1.2429883512608049
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.028495588290232295,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.025526093738803986,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.11308635740128971,
|
| 313 |
+
-0.9933598492311618,
|
| 314 |
+
0.021158584667957833
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0033802473148615945,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03650248291513672,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.33516753126531285,
|
| 480 |
+
-0.3644217947345913,
|
| 481 |
+
0.8515396011613078
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3260172940242515,
|
| 485 |
+
-0.3669784856676085,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.009500711031005953,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18535929846351565,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8515396011613078,
|
| 495 |
+
"min_z": 0.5774145980897916,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07578331573287381,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08496543894318702,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15304335489373577,
|
| 506 |
+
"release_required_pad_clearance": 0.05248271947159351,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.03956460928504466,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 152,
|
| 519 |
+
"max_placed_release_frames": 152
|
| 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 |
+
"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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008639931678771973,
|
| 669 |
+
"max_z_decrease": 0.008639931678771973,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03504019714628595,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008639931678771973,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 79,
|
| 681 |
+
"contact_point_distance": 0.020913622547412802,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 121,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008639931678771973,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 79,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008639992032471068,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18171721696853638,
|
| 698 |
+
-0.4232399463653565,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18171721696853638,
|
| 703 |
+
-0.4232399463653565,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.17992930454090944,
|
| 708 |
+
-0.42195034572119655,
|
| 709 |
+
0.8031410607495073
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18171365559101102,
|
| 713 |
+
-0.4232078492641449,
|
| 714 |
+
0.7681689262390137
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.0017843510501015791,
|
| 718 |
+
0.001257503542948346,
|
| 719 |
+
0.034972134510493635
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18171365559101102,
|
| 723 |
+
-0.4232078492641449,
|
| 724 |
+
0.7681689262390137
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14684928196874106,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.05359642207622528,
|
| 729 |
+
-0.48622459173202515,
|
| 730 |
+
0.8111640810966492
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.1817221790552139,
|
| 734 |
+
-0.423243135213852,
|
| 735 |
+
0.776786208152771
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.12812575697898862,
|
| 740 |
+
-0.06298145651817316,
|
| 741 |
+
0.034377872943878174
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.020913622547412802,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18171365559101102,
|
| 746 |
+
-0.4232078492641449,
|
| 747 |
+
0.7890825487864265
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18171365559101102,
|
| 751 |
+
-0.4232078492641449,
|
| 752 |
+
0.7681689262390137
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
0.0,
|
| 758 |
+
0.020913622547412802
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 95,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 2795588802749883146,
|
| 901 |
+
"physical_seed": 2289185594570977662,
|
| 902 |
+
"layout_id": "layout_00033",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
6816342363077730166,
|
| 905 |
+
4358494381448953216,
|
| 906 |
+
412513956277572572,
|
| 907 |
+
5816647056012353206
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "fa2cfeaf0e7c3fb593e8191605ba16439ff825206114c448221cdb14cd44cb2b",
|
| 914 |
+
"visual_seed": 5906744179340887935,
|
| 915 |
+
"episode_index": 95,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
6816342363077730166,
|
| 920 |
+
4358494381448953216,
|
| 921 |
+
412513956277572572,
|
| 922 |
+
5816647056012353206
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_96_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 96,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 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 |
+
0.3472337240409418,
|
| 26 |
+
0.3558757140272085,
|
| 27 |
+
1.052977871498895
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.052977871498895,
|
| 30 |
+
"required_z": 0.8611065080147661,
|
| 31 |
+
"initial_z": 0.7611065080147661,
|
| 32 |
+
"lift_margin": 0.19187136348412903,
|
| 33 |
+
"gripper_z": 1.051473012404745,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.34160621681142356,
|
| 38 |
+
0.3506233721921895,
|
| 39 |
+
1.051473012404745
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005627507229518269,
|
| 43 |
+
0.005252341835019048,
|
| 44 |
+
0.0015048590941499906
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.007697787498377157,
|
| 47 |
+
"object_to_gripper_z": 0.0015048590941499906,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3472337240409418,
|
| 51 |
+
0.33120088053352664,
|
| 52 |
+
1.052977871498895
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.3346111574269317,
|
| 56 |
+
0.3558757140272085,
|
| 57 |
+
1.052977871498895
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.34092244073393674,
|
| 61 |
+
0.34353829728036755,
|
| 62 |
+
1.052977871498895
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.006311283307005089,
|
| 66 |
+
0.012337416746840968,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027715998915176197,
|
| 70 |
+
"fingertip_max_gap": 0.09166923757844073,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013857999457588135,
|
| 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": 1.052977871498895,
|
| 78 |
+
"object_top_z": 1.103748520726278,
|
| 79 |
+
"finger_top_clearance": 0.05077064922738295,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015231194768214917,
|
| 81 |
+
"object_projection_between_fingers": 0.792587812773059,
|
| 82 |
+
"object_to_finger_line_xy": 0.011237542995178276,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.048334618789220365,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.7760466700554145,
|
| 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": 231,
|
| 96 |
+
"max_stable_success_frames": 231,
|
| 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": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.3485802904330744,
|
| 257 |
+
0.3534341758586784,
|
| 258 |
+
1.2412971384335996
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.35477393480786934,
|
| 262 |
+
0.3580396611228306,
|
| 263 |
+
1.242693786640489
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.007843618512750282,
|
| 272 |
+
"max_held_gripper_dist": 0.00785191899180379,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.0013966482068894503,
|
| 275 |
+
"max_held_gripper_z_dist": 0.0015584443801663905,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.09000270043177538,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.35477393480786934,
|
| 285 |
+
0.3318970028324763,
|
| 286 |
+
1.242693786640489
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.3448454984875276,
|
| 290 |
+
0.3583326678666116,
|
| 291 |
+
1.242693786640489
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.34980971664769844,
|
| 295 |
+
0.34511483534954396,
|
| 296 |
+
1.242693786640489
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.35477393480786934,
|
| 300 |
+
0.3580396611228306,
|
| 301 |
+
1.242693786640489
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02823859475193631,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.025197629948163953,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.10833147767313255,
|
| 313 |
+
-0.9938540260592901,
|
| 314 |
+
0.02276984477100508
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0035475782325895063,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03633707885041616,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3341283974603376,
|
| 480 |
+
-0.3682196991464095,
|
| 481 |
+
0.8515395837764496
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3249095483097999,
|
| 485 |
+
-0.37085262987634365,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.009587465978505563,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18661317007813494,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8515395837764496,
|
| 495 |
+
"min_z": 0.5774145980897916,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07524000584763897,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08674012083732117,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15561900445334853,
|
| 506 |
+
"release_required_pad_clearance": 0.05337006041866059,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 1.7560830078166976,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 154,
|
| 519 |
+
"max_placed_release_frames": 154
|
| 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 |
+
"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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008473753929138184,
|
| 669 |
+
"max_z_decrease": 0.008473753929138184,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03505329082735295,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008473753929138184,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.02101247446450638,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008473753929138184,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008473787315865844,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18060947954654694,
|
| 698 |
+
-0.4271140992641448,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18060947954654694,
|
| 703 |
+
-0.4271140992641448,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.1808146427069633,
|
| 708 |
+
-0.4251002334242085,
|
| 709 |
+
0.803331100235817
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18060041964054108,
|
| 713 |
+
-0.4270921051502227,
|
| 714 |
+
0.7683351039886475
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
0.00021422306642221445,
|
| 718 |
+
0.001991871726014227,
|
| 719 |
+
0.034995996247169536
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18060041964054108,
|
| 723 |
+
-0.4270921051502227,
|
| 724 |
+
0.7683351039886475
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14486213549283264,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.0539240837097168,
|
| 729 |
+
-0.488300085067749,
|
| 730 |
+
0.8104994297027588
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.180615171790123,
|
| 734 |
+
-0.42711696028709406,
|
| 735 |
+
0.7759881019592285
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.12669108808040622,
|
| 740 |
+
-0.06118312478065496,
|
| 741 |
+
0.03451132774353027
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.02101247446450638,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18060041964054108,
|
| 746 |
+
-0.4270921051502227,
|
| 747 |
+
0.7893475784531538
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18060041964054108,
|
| 751 |
+
-0.4270921051502227,
|
| 752 |
+
0.7683351039886475
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
0.0,
|
| 758 |
+
0.02101247446450638
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 96,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 2795588802749883146,
|
| 901 |
+
"physical_seed": 2289185594570977662,
|
| 902 |
+
"layout_id": "layout_00033",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
6816342363077730166,
|
| 905 |
+
4358494381448953216,
|
| 906 |
+
412513956277572572,
|
| 907 |
+
5816647056012353206
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "f3939ff83571cc0117c28c2da1507bd5d11d332136292794884c5de46149a254",
|
| 914 |
+
"visual_seed": 2053493970505677184,
|
| 915 |
+
"episode_index": 96,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
6816342363077730166,
|
| 920 |
+
4358494381448953216,
|
| 921 |
+
412513956277572572,
|
| 922 |
+
5816647056012353206
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_97_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 97,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 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 |
+
0.3407427239391311,
|
| 26 |
+
0.3566605861528888,
|
| 27 |
+
1.0543952967968049
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0543952967968049,
|
| 30 |
+
"required_z": 0.8611065080147661,
|
| 31 |
+
"initial_z": 0.7611065080147661,
|
| 32 |
+
"lift_margin": 0.1932887887820388,
|
| 33 |
+
"gripper_z": 1.053153136778301,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.3350400323054117,
|
| 38 |
+
0.35140939151691714,
|
| 39 |
+
1.053153136778301
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005702691633719392,
|
| 43 |
+
0.005251194635971679,
|
| 44 |
+
0.0012421600185039683
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.007752144024342614,
|
| 47 |
+
"object_to_gripper_z": 0.0012421600185039683,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3407427239391311,
|
| 51 |
+
0.33187367443756294,
|
| 52 |
+
1.0543952967968049
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.32819452995109355,
|
| 56 |
+
0.3566605861528888,
|
| 57 |
+
1.0543952967968049
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.3344686269451123,
|
| 61 |
+
0.3442671302952259,
|
| 62 |
+
1.0543952967968049
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.006274096994018763,
|
| 66 |
+
0.012393455857662938,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027782155509333332,
|
| 70 |
+
"fingertip_max_gap": 0.09152214085556007,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013891077754666666,
|
| 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": 1.0543952967968049,
|
| 78 |
+
"object_top_z": 1.1051898843033872,
|
| 79 |
+
"finger_top_clearance": 0.05079458750658228,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015238376251974717,
|
| 81 |
+
"object_projection_between_fingers": 0.7959998098674161,
|
| 82 |
+
"object_to_finger_line_xy": 0.011195350787802595,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04826107042778004,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.7932263867206769,
|
| 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": 232,
|
| 96 |
+
"max_stable_success_frames": 232,
|
| 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": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.3420192310427146,
|
| 257 |
+
0.35430597213081444,
|
| 258 |
+
1.2431311976830837
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.348260695322374,
|
| 262 |
+
0.35893362950206126,
|
| 263 |
+
1.2442571236030013
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.007851038038187189,
|
| 272 |
+
"max_held_gripper_dist": 0.007857855166100491,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.0011259259199176697,
|
| 275 |
+
"max_held_gripper_z_dist": 0.001289025463794058,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.09004577778123296,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.348260695322374,
|
| 285 |
+
0.33277145038929973,
|
| 286 |
+
1.2442571236030013
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.33829137162554546,
|
| 290 |
+
0.3591999518531811,
|
| 291 |
+
1.2442571236030013
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.34327603347395974,
|
| 295 |
+
0.3459857011212404,
|
| 296 |
+
1.2442571236030013
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.348260695322374,
|
| 300 |
+
0.35893362950206126,
|
| 301 |
+
1.2442571236030013
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.028246293643565474,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.025209818374484005,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.10644154020513762,
|
| 313 |
+
-0.9940392791275491,
|
| 314 |
+
0.02358198614071305
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0035916855823114003,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.036318925591681775,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3335109518596821,
|
| 480 |
+
-0.361517411671148,
|
| 481 |
+
0.8515396031349934
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3247060201120679,
|
| 485 |
+
-0.3643253540497823,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.00924182684764625,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18600146285138752,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8515396031349934,
|
| 495 |
+
"min_z": 0.5774145980897916,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.0758114015111122,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08535859304035413,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15354401594985648,
|
| 506 |
+
"release_required_pad_clearance": 0.05267929652017707,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.4149581049272342,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 152,
|
| 519 |
+
"max_placed_release_frames": 152
|
| 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 |
+
"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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008626878261566162,
|
| 669 |
+
"max_z_decrease": 0.008626878261566162,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03499152772528501,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008626878261566162,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 79,
|
| 681 |
+
"contact_point_distance": 0.02102064276295163,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 121,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008626878261566162,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 79,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008627017135968423,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18040594458580012,
|
| 698 |
+
-0.42058682441711426,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18040594458580012,
|
| 703 |
+
-0.42058682441711426,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18041905735515623,
|
| 708 |
+
-0.4210730514032901,
|
| 709 |
+
0.8031695289969221
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18043230473995203,
|
| 713 |
+
-0.4205455780029297,
|
| 714 |
+
0.7681819796562195
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-1.3247384795800343e-05,
|
| 718 |
+
-0.000527473400360412,
|
| 719 |
+
0.034987549340702584
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18043230473995203,
|
| 723 |
+
-0.4205455780029297,
|
| 724 |
+
0.7681819796562195
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14574321752353672,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.039538294076919556,
|
| 729 |
+
-0.4062141478061676,
|
| 730 |
+
0.8100585341453552
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.1804108023643493,
|
| 734 |
+
-0.4205893874168396,
|
| 735 |
+
0.7755712270736694
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 0,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.14087250828742975,
|
| 740 |
+
0.014375239610671997,
|
| 741 |
+
0.03448730707168579
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.02102064276295163,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18043230473995203,
|
| 746 |
+
-0.4221372449674039,
|
| 747 |
+
0.789142275895582
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18043230473995203,
|
| 751 |
+
-0.4205455780029297,
|
| 752 |
+
0.7681819796562195
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.0015916669644742143,
|
| 758 |
+
0.020960296239362464
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 97,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 2795588802749883146,
|
| 901 |
+
"physical_seed": 2289185594570977662,
|
| 902 |
+
"layout_id": "layout_00033",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
6816342363077730166,
|
| 905 |
+
4358494381448953216,
|
| 906 |
+
412513956277572572,
|
| 907 |
+
5816647056012353206
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "7738886fde01ede336c06a1f4cfb2d265e6d7b1a599a12370063306931f5410e",
|
| 914 |
+
"visual_seed": 6990489209208198223,
|
| 915 |
+
"episode_index": 97,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
6816342363077730166,
|
| 920 |
+
4358494381448953216,
|
| 921 |
+
412513956277572572,
|
| 922 |
+
5816647056012353206
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_98_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 98,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 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 |
+
0.3488533588303811,
|
| 26 |
+
0.3577571338968019,
|
| 27 |
+
1.0547090273728967
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0547090273728967,
|
| 30 |
+
"required_z": 0.8611069848519242,
|
| 31 |
+
"initial_z": 0.7611069848519242,
|
| 32 |
+
"lift_margin": 0.19360204252097257,
|
| 33 |
+
"gripper_z": 1.0531449915994033,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.34323900212465613,
|
| 38 |
+
0.35250635392456614,
|
| 39 |
+
1.0531449915994033
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0056143567057249655,
|
| 43 |
+
0.005250779972235775,
|
| 44 |
+
0.0015640357734933996
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.007687112041329384,
|
| 47 |
+
"object_to_gripper_z": 0.0015640357734933996,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3488533588303811,
|
| 51 |
+
0.33308617023851284,
|
| 52 |
+
1.0547090273728967
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.33623870443151643,
|
| 56 |
+
0.3577571338968019,
|
| 57 |
+
1.0547090273728967
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.34254603163094877,
|
| 61 |
+
0.3454216520676574,
|
| 62 |
+
1.0547090273728967
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.006307327199432333,
|
| 66 |
+
0.012335481829144512,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027708950781857766,
|
| 70 |
+
"fingertip_max_gap": 0.09160480117553713,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013854475390928859,
|
| 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": 1.0547090273728967,
|
| 78 |
+
"object_top_z": 1.1054516864765875,
|
| 79 |
+
"finger_top_clearance": 0.0507426591036908,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01522279773110724,
|
| 81 |
+
"object_projection_between_fingers": 0.7927423588675875,
|
| 82 |
+
"object_to_finger_line_xy": 0.011231593815527392,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.048302400587768565,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.7997772177313842,
|
| 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": 233,
|
| 96 |
+
"max_stable_success_frames": 233,
|
| 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": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.35046232325595156,
|
| 257 |
+
0.3554291310631251,
|
| 258 |
+
1.2445205334635911
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.3566544291266125,
|
| 262 |
+
0.3600107781418762,
|
| 263 |
+
1.2459976579014933
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.007843185683939257,
|
| 272 |
+
"max_held_gripper_dist": 0.007851409586211232,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.0014771244379021553,
|
| 275 |
+
"max_held_gripper_z_dist": 0.0016423461802317352,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.09037777105572531,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.3566544291266125,
|
| 285 |
+
0.33382320710676683,
|
| 286 |
+
1.2459976579014933
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.34678418544647527,
|
| 290 |
+
0.3605156628295894,
|
| 291 |
+
1.2459976579014933
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.3517193072865439,
|
| 295 |
+
0.3471694349681781,
|
| 296 |
+
1.2459976579014933
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.3566544291266125,
|
| 300 |
+
0.3600107781418762,
|
| 301 |
+
1.2459976579014933
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02845889848219943,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.025425132941117975,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.11101221515431217,
|
| 313 |
+
-0.993571023646468,
|
| 314 |
+
0.022201555275306206
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.003491233767241182,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.036413604780485824,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.33435671992670357,
|
| 480 |
+
-0.3645169716872734,
|
| 481 |
+
0.8515396141110516
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.32514055896451305,
|
| 485 |
+
-0.3670155415858848,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.009548846758601353,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18615612269754653,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8515396141110516,
|
| 495 |
+
"min_z": 0.5774145980897916,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07560033975349569,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08525050451324755,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15430672146547894,
|
| 506 |
+
"release_required_pad_clearance": 0.052625252256623775,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.3115327096691935,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 153,
|
| 519 |
+
"max_placed_release_frames": 153
|
| 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 |
+
"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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008429408073425293,
|
| 669 |
+
"max_z_decrease": 0.008429408073425293,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03504240388729369,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008429408073425293,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 79,
|
| 681 |
+
"contact_point_distance": 0.021076640234581112,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 121,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008429408073425293,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 79,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008429450048875181,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18084049224853516,
|
| 698 |
+
-0.42327699065208435,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18084049224853516,
|
| 703 |
+
-0.42327699065208435,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18190860928773442,
|
| 708 |
+
-0.42183514577585207,
|
| 709 |
+
0.8033772282140786
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.1808539479970932,
|
| 713 |
+
-0.4232540428638459,
|
| 714 |
+
0.7683794498443604
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
0.0010546612906412178,
|
| 718 |
+
0.001418897087993809,
|
| 719 |
+
0.03499777836971829
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.1808539479970932,
|
| 723 |
+
-0.4232540428638459,
|
| 724 |
+
0.7683794498443604
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.1443631705706811,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.054710209369659424,
|
| 729 |
+
-0.48435649275779724,
|
| 730 |
+
0.8089556694030762
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18084914982318878,
|
| 734 |
+
-0.42328140139579773,
|
| 735 |
+
0.7743214964866638
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.12613894045352936,
|
| 740 |
+
-0.06107509136199951,
|
| 741 |
+
0.034634172916412354
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.021076640234581112,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.1808539479970932,
|
| 746 |
+
-0.4232540428638459,
|
| 747 |
+
0.7894560900789415
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.1808539479970932,
|
| 751 |
+
-0.4232540428638459,
|
| 752 |
+
0.7683794498443604
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
0.0,
|
| 758 |
+
0.021076640234581112
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 98,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 2795588802749883146,
|
| 901 |
+
"physical_seed": 2289185594570977662,
|
| 902 |
+
"layout_id": "layout_00033",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
6816342363077730166,
|
| 905 |
+
4358494381448953216,
|
| 906 |
+
412513956277572572,
|
| 907 |
+
5816647056012353206
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "c5bb30b3aa0fcf37885f2e42de60efaf509fbf811406394004e5bf7c78a833fe",
|
| 914 |
+
"visual_seed": 8515290907800170771,
|
| 915 |
+
"episode_index": 98,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
6816342363077730166,
|
| 920 |
+
4358494381448953216,
|
| 921 |
+
412513956277572572,
|
| 922 |
+
5816647056012353206
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_9_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 9,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 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 |
+
0.3464993313011973,
|
| 26 |
+
0.358685558479711,
|
| 27 |
+
1.0542114326649106
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0542114326649106,
|
| 30 |
+
"required_z": 0.8611063888054766,
|
| 31 |
+
"initial_z": 0.7611063888054767,
|
| 32 |
+
"lift_margin": 0.19310504385943394,
|
| 33 |
+
"gripper_z": 1.053819779617732,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.3405921137634441,
|
| 38 |
+
0.35343187963719835,
|
| 39 |
+
1.053819779617732
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0059072175377531955,
|
| 43 |
+
0.005253678842512655,
|
| 44 |
+
0.0003916530471785862
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.007905463959730892,
|
| 47 |
+
"object_to_gripper_z": 0.0003916530471785862,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3464993313011973,
|
| 51 |
+
0.33363515926795545,
|
| 52 |
+
1.0542114326649106
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.33411601719361583,
|
| 56 |
+
0.358685558479711,
|
| 57 |
+
1.0542114326649106
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.3403076742474066,
|
| 61 |
+
0.34616035887383323,
|
| 62 |
+
1.0542114326649106
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.006191657053790711,
|
| 66 |
+
0.01252519960587778,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02794403279692017,
|
| 70 |
+
"fingertip_max_gap": 0.091970520498286,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01397201639846007,
|
| 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": 1.0542114326649106,
|
| 78 |
+
"object_top_z": 1.1047832040022905,
|
| 79 |
+
"finger_top_clearance": 0.05057177133737989,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015171531401213967,
|
| 81 |
+
"object_projection_between_fingers": 0.8036207425527818,
|
| 82 |
+
"object_to_finger_line_xy": 0.011101009085333943,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.048485260249143,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.6569080567503335,
|
| 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": 232,
|
| 96 |
+
"max_stable_success_frames": 232,
|
| 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": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.3470639486272906,
|
| 257 |
+
0.3573987309733893,
|
| 258 |
+
1.2429799055905337
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.3533448305927396,
|
| 262 |
+
0.36220206625118073,
|
| 263 |
+
1.2432846197620573
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.007912923529335087,
|
| 272 |
+
"max_held_gripper_dist": 0.007917334818399638,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.00030471417152355684,
|
| 275 |
+
"max_held_gripper_z_dist": 0.00046206681554661344,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.09042890355224054,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.3533448305927396,
|
| 285 |
+
0.3362164556756032,
|
| 286 |
+
1.2432846197620573
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.3427639624491065,
|
| 290 |
+
0.36220206625118073,
|
| 291 |
+
1.2432846197620573
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.34805439652092307,
|
| 295 |
+
0.349209260963392,
|
| 296 |
+
1.2432846197620573
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.3533448305927396,
|
| 300 |
+
0.36220206625118073,
|
| 301 |
+
1.2432846197620573
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.028057204558874276,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.025235986434789203,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.06534056250946513,
|
| 313 |
+
-0.9977578258445998,
|
| 314 |
+
0.01448902539179053
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0044342758304861726,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03641089697635699,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3337831429315442,
|
| 480 |
+
-0.36065633248294976,
|
| 481 |
+
0.8515395850666065
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3249900116574042,
|
| 485 |
+
-0.3636035677236111,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.00927390711448281,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18674548130552673,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8515395850666065,
|
| 495 |
+
"min_z": 0.5774145980897916,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.0753174646686741,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08519283843966584,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15570380839921502,
|
| 506 |
+
"release_required_pad_clearance": 0.05259641921983292,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.2564084936565646,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 154,
|
| 519 |
+
"max_placed_release_frames": 154
|
| 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 |
+
"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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008617401123046875,
|
| 669 |
+
"max_z_decrease": 0.008617401123046875,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03500639529439299,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008617401123046875,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 79,
|
| 681 |
+
"contact_point_distance": 0.021106425538961936,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 121,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008617401123046875,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 79,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008617602090769385,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18068993091583252,
|
| 698 |
+
-0.4198650121688842,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18068993091583252,
|
| 703 |
+
-0.4198650121688842,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18135666132906356,
|
| 708 |
+
-0.4195041378554045,
|
| 709 |
+
0.8031890271125355
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18064187467098236,
|
| 713 |
+
-0.4198310375213623,
|
| 714 |
+
0.7681914567947388
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
0.0007147866580811957,
|
| 718 |
+
0.00032689966595778053,
|
| 719 |
+
0.03499757031779671
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18064187467098236,
|
| 723 |
+
-0.4198310375213623,
|
| 724 |
+
0.7681914567947388
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14521663796993284,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.05401673913002014,
|
| 729 |
+
-0.48181694746017456,
|
| 730 |
+
0.8079497218132019
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18070122599601746,
|
| 734 |
+
-0.4198704957962036,
|
| 735 |
+
0.7732863426208496
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.12668448686599731,
|
| 740 |
+
-0.06194645166397095,
|
| 741 |
+
0.034663379192352295
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.021106425538961936,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18064187467098236,
|
| 746 |
+
-0.42075192196705674,
|
| 747 |
+
0.7892777834276405
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18064187467098236,
|
| 751 |
+
-0.4198310375213623,
|
| 752 |
+
0.7681914567947388
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.0009208844456944365,
|
| 758 |
+
0.021086326632901775
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 9,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 2795588802749883146,
|
| 901 |
+
"physical_seed": 2289185594570977662,
|
| 902 |
+
"layout_id": "layout_00033",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
6816342363077730166,
|
| 905 |
+
4358494381448953216,
|
| 906 |
+
412513956277572572,
|
| 907 |
+
5816647056012353206
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "d6b21e8b53c989453643e71bec2044152481a9e2c0b58834d02c115b15698aaa",
|
| 914 |
+
"visual_seed": 9086533174298478021,
|
| 915 |
+
"episode_index": 9,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
6816342363077730166,
|
| 920 |
+
4358494381448953216,
|
| 921 |
+
412513956277572572,
|
| 922 |
+
5816647056012353206
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/summary.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scope": "published_success_subset",
|
| 3 |
+
"case": "lab3_heat_2beaker_s04_pslr_htb_00033",
|
| 4 |
+
"family": "lab3_v1",
|
| 5 |
+
"published_episodes": 100,
|
| 6 |
+
"published_successes": 100,
|
| 7 |
+
"published_failures": 0,
|
| 8 |
+
"matched_success_results": 100
|
| 9 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0000.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9dc9a597d5e73e76a51d5379c26a5e7c04b7b8a407c26ae91a15f30f3bdcc0eb
|
| 3 |
+
size 5149983
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0001.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:15700458918142cfaa6bf76d567fe6d9596eb4175a403de179b70a6ec5b27ee9
|
| 3 |
+
size 7036385
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0002.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b456a0b3db128007710f71560075f5b1031898a3b72fe2c1cebe2a6bc50864a8
|
| 3 |
+
size 6167429
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0003.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:45e84549639d300507e5bd89789ba8e966015699746df178532d9e20180e8ce7
|
| 3 |
+
size 5978421
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0005.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:16a2ef7fad84e023c3aa34e676d25fc135f502ac206b47ed3b4bad5a02aaa826
|
| 3 |
+
size 6446097
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0007.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b99bd58ecbc8bdd633575a71253762f0c91eead83f9da96e0971d50c9aadc15d
|
| 3 |
+
size 5742689
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0008.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6f4114438e7e34cac3d6583827c677fcc919dc897691ab20e09d93f548464b7c
|
| 3 |
+
size 5410887
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0010.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bc8bbd993228a9d4ec6ff49f5f6edd214caaba8902e6401835a7304a596d9bed
|
| 3 |
+
size 7006396
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0011.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:434df68914a97b9140b586e66a65610f6a53e15c1cbab8136faefb10c805422d
|
| 3 |
+
size 5532798
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0013.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cc4a9ba2d3a72ad1ff0fafe4b896ad7061a07bf0c0301f76c5a45c68b4365100
|
| 3 |
+
size 5757580
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0015.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:245489cde334813538f5ad8a19e273108164a643c3170950fe5e9f7dbfa51d41
|
| 3 |
+
size 6754719
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0016.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5cb6e9a42fb32e8ac637a502880e8dfef97ee3d18b04b1c92d519b910784dbb1
|
| 3 |
+
size 4978086
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0018.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b5f3befff46100d6866a8df73884c918ac4359d1554aa38637274b6d6d0b59bb
|
| 3 |
+
size 6663177
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0019.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:23753cad517529bfee3095d3f548de9ec233aa1f05c2d2b171ceed23d3c53c8f
|
| 3 |
+
size 6108088
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0021.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ea00f82c671dc0096b8d7d0c742238e79765cab634c4e79557832c3d41d48a42
|
| 3 |
+
size 5319303
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0022.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:19a1d3f688268c3d0c31e0976c7f8866414698ba1b42c8ffaedcb25b8c80cc64
|
| 3 |
+
size 8807550
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0023.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cdb520a4ff8d55d681a567c59efac10db36f717d32aadbe20b66ab6f93c7586a
|
| 3 |
+
size 4868567
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0024.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c98c5a58cfcce498466980b1068bc319e5a7a4bfdc9b3c68fe32ef5f9905d80c
|
| 3 |
+
size 7238920
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0025.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4d997b8688fb43ab3ae707dc42bdad2e57162e3ff054ec87b25738794fc3f476
|
| 3 |
+
size 5929634
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0026.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bcb026d0481129a320e9f977b81fde61bd28eca99a9b808827b42c844e033322
|
| 3 |
+
size 7061502
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0027.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:68e7798bd9bd40fb333f5a7e302a73b640242219f16f50653eaf73ccbb459dea
|
| 3 |
+
size 6006877
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0028.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c722bacaad545d55063d850c129d4ddc63a5221cd2c6d7aefa81de09af1ef640
|
| 3 |
+
size 7390183
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0029.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:05ab9c01da7b153a3f45419d943d2ad51051b624b0b3d2fa8d368837682afdb7
|
| 3 |
+
size 5339649
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0030.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:06ac716bbc78a041fa6663cd69d8d27632e213674c8c9ab68e1a2be093afd736
|
| 3 |
+
size 5896210
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0031.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ea81b39a70e9e4580bd0907dea363b8ca45b3891411788544e5714936419cc06
|
| 3 |
+
size 5689260
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0032.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1a62c760d29f54b5cc08a19fa601570e6e57b55871dbbf1635da14b135cd3d57
|
| 3 |
+
size 6639526
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0034.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1385c6a9ed57b14852282f77952223b546c45627451756a69db223a7de4d448f
|
| 3 |
+
size 6036097
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0035.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f50be5278d8ede755ecda32a9ee161f441ca2faf15ab6de49afd223465c799cd
|
| 3 |
+
size 7157590
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0036.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c79cf00abbb2efc3d4ec246e24d112d4712d0bfcaffe2e0ff4369c76654cb4b8
|
| 3 |
+
size 5422746
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0037.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:435434aa304ac9e3d998e9b9eabf72f145311489abf450edd0521155bd9a6c36
|
| 3 |
+
size 6439628
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0038.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:17637122c47e8d7c85312b77e314268263605d38dbffd6d7c10251f6d97ff0e9
|
| 3 |
+
size 6251318
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0039.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:47290e4442573b81ed48e595ce0ecdb803186c0e4b6440f58735553254905453
|
| 3 |
+
size 5173167
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0040.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c244d6bda2a32bb9f4256311fc83f48e196a1f125e7fac7d57ae5e3edb971a46
|
| 3 |
+
size 5941833
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0041.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:39c3ef02b1fb60dfb6a0b6c2eecd56ebcfae9ffb4a6a958f1a072a05530f3e9a
|
| 3 |
+
size 6292876
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0042.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ceabd27eec3eb483e6dfc20368f75469ae5fd113b48fe10277a28aa5bcf23b9d
|
| 3 |
+
size 7008787
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0043.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5342a9e6463db3011ac498bd1fe9cbeb2c3e9a9045d975ef06c257c9cb13a583
|
| 3 |
+
size 5954212
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0044.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ce1e9bd126c0d5c0aad8bc6b13ae6d92c0c23eb03086151d730d2cf44aaa6145
|
| 3 |
+
size 5860246
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0045.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5a629163c15c26e5396e61697951222ef0a617591d6cc5c13e61896ca0ffe1c4
|
| 3 |
+
size 6594423
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00034/dataset/episode_0046.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e32ec5c57fa674038ae555c30d29dabfae834343e2fcce39c3353cb139d375e7
|
| 3 |
+
size 4839435
|