Upload folder using huggingface_hub (part 33)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_79_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_7_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_80_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_81_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_82_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_83_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_84_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_85_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_86_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_87_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_89_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_8_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_90_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_91_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_92_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_93_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_94_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_95_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_96_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_97_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_98_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_99_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_9_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/summary.json +9 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0000.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0001.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0002.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0003.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0004.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0005.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0006.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0007.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0008.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0009.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0010.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0011.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0012.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0013.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0014.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0015.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0016.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0017.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0018.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0019.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0020.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0021.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0022.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0024.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0025.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0026.h5 +3 -0
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_79_success.json
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|
| 1 |
+
{
|
| 2 |
+
"episode": 79,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"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 |
+
0.3008711801754818,
|
| 26 |
+
0.20824862072729836,
|
| 27 |
+
1.003844059418554
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.003844059418554,
|
| 30 |
+
"required_z": 0.8611066868287002,
|
| 31 |
+
"initial_z": 0.7611066868287002,
|
| 32 |
+
"lift_margin": 0.14273737258985386,
|
| 33 |
+
"gripper_z": 1.004768746889206,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.29569833515846355,
|
| 38 |
+
0.20337081550283143,
|
| 39 |
+
1.004768746889206
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005172845017018257,
|
| 43 |
+
0.00487780522446693,
|
| 44 |
+
-0.0009246874706518859
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.007109944400480744,
|
| 47 |
+
"object_to_gripper_z": -0.0009246874706518859,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3008711801754818,
|
| 51 |
+
0.18370692985012288,
|
| 52 |
+
1.003844059418554
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.28903997595244507,
|
| 56 |
+
0.20824862072729836,
|
| 57 |
+
1.003844059418554
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.29495557806396344,
|
| 61 |
+
0.19597777528871063,
|
| 62 |
+
1.003844059418554
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.00591560211151837,
|
| 66 |
+
0.012270845438587724,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027244668918488264,
|
| 70 |
+
"fingertip_max_gap": 0.0911523474795912,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013622334459244118,
|
| 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": 1.003844059418554,
|
| 78 |
+
"object_top_z": 1.053804251681297,
|
| 79 |
+
"finger_top_clearance": 0.049960192262743064,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014988057678822934,
|
| 81 |
+
"object_projection_between_fingers": 0.8114203468616246,
|
| 82 |
+
"object_to_finger_line_xy": 0.010657415497145682,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.0480761737397956,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.9680818181395637,
|
| 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": 174,
|
| 96 |
+
"max_stable_success_frames": 174,
|
| 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/right_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/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
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| 934 |
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"wrist",
|
| 935 |
+
"wrist_1_joint",
|
| 936 |
+
"wrist_2_joint",
|
| 937 |
+
"wrist_3_joint"
|
| 938 |
+
],
|
| 939 |
+
"ignored_prim_substrings": [
|
| 940 |
+
"base_link",
|
| 941 |
+
"caster",
|
| 942 |
+
"defaultgroundplane",
|
| 943 |
+
"desk",
|
| 944 |
+
"floor",
|
| 945 |
+
"ground",
|
| 946 |
+
"groundplane",
|
| 947 |
+
"link0",
|
| 948 |
+
"table",
|
| 949 |
+
"wheel",
|
| 950 |
+
"workbench"
|
| 951 |
+
],
|
| 952 |
+
"enabled": true
|
| 953 |
+
},
|
| 954 |
+
"status": "active",
|
| 955 |
+
"passed": true,
|
| 956 |
+
"source_missing": false,
|
| 957 |
+
"forbidden": [],
|
| 958 |
+
"disturbances": [],
|
| 959 |
+
"last_frame": {
|
| 960 |
+
"passed": true,
|
| 961 |
+
"source_missing": false,
|
| 962 |
+
"forbidden": [],
|
| 963 |
+
"allowed": [],
|
| 964 |
+
"ignored": [],
|
| 965 |
+
"failed_keys": []
|
| 966 |
+
},
|
| 967 |
+
"failed_keys": []
|
| 968 |
+
}
|
| 969 |
+
},
|
| 970 |
+
"gripper": null,
|
| 971 |
+
"post_done_wait_frames": 0,
|
| 972 |
+
"post_done_wait_exhausted": false
|
| 973 |
+
},
|
| 974 |
+
"physical_semantics": {
|
| 975 |
+
"skill": "place",
|
| 976 |
+
"target": "beaker_a",
|
| 977 |
+
"attach_used": false,
|
| 978 |
+
"attach_object": null,
|
| 979 |
+
"attach_object_path": null,
|
| 980 |
+
"attach_allowed": false,
|
| 981 |
+
"ordinary_object_physical_only": true
|
| 982 |
+
}
|
| 983 |
+
}
|
| 984 |
+
],
|
| 985 |
+
"physical_semantics": {
|
| 986 |
+
"attach_records": [],
|
| 987 |
+
"ordinary_attach_violations": [],
|
| 988 |
+
"forbidden_shortcuts_absent": true
|
| 989 |
+
},
|
| 990 |
+
"h5_episode_index": 79,
|
| 991 |
+
"reproducibility": {
|
| 992 |
+
"enabled": true,
|
| 993 |
+
"action_seed": 2891541627295583141,
|
| 994 |
+
"physical_seed": 1061768133550289122,
|
| 995 |
+
"layout_id": "layout_00016",
|
| 996 |
+
"step_seeds": [
|
| 997 |
+
1164515841808467485,
|
| 998 |
+
5066845160497422571,
|
| 999 |
+
1159376154734467498
|
| 1000 |
+
],
|
| 1001 |
+
"workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65",
|
| 1002 |
+
"strict_task_state": false,
|
| 1003 |
+
"allow_physical_randomization": true,
|
| 1004 |
+
"seed_source": "workflow.reproducibility",
|
| 1005 |
+
"task_island_state_digest": "2c5e27e0e4bed91f6a633a3d12c0dd7b825668a4cb530a7b4f40d91b0b01c6d4",
|
| 1006 |
+
"visual_seed": 2260922720081680602,
|
| 1007 |
+
"episode_index": 79,
|
| 1008 |
+
"physical_randomization_enabled": true,
|
| 1009 |
+
"motion_controller_type": "ik_servo",
|
| 1010 |
+
"runtime_step_seeds": [
|
| 1011 |
+
1164515841808467485,
|
| 1012 |
+
5066845160497422571,
|
| 1013 |
+
1159376154734467498
|
| 1014 |
+
],
|
| 1015 |
+
"runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3"
|
| 1016 |
+
}
|
| 1017 |
+
}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_7_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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|
| 1 |
+
{
|
| 2 |
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"episode": 7,
|
| 3 |
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"success": true,
|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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|
| 8 |
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{
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| 9 |
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|
| 10 |
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"skill": "pick",
|
| 11 |
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"target": "beaker_a",
|
| 12 |
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"success": true,
|
| 13 |
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"reason": "executed",
|
| 14 |
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|
| 15 |
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"arm": null,
|
| 16 |
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|
| 17 |
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|
| 18 |
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"skill": "pick",
|
| 19 |
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"target": "beaker_a",
|
| 20 |
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"passed": true,
|
| 21 |
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"metrics": {
|
| 22 |
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"target": "beaker_a",
|
| 23 |
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"active_arm": null,
|
| 24 |
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"object_position": [
|
| 25 |
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|
| 26 |
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|
| 27 |
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1.0039180007663733
|
| 28 |
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],
|
| 29 |
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"current_z": 1.0039180007663733,
|
| 30 |
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|
| 31 |
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"initial_z": 0.7611064484101212,
|
| 32 |
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|
| 33 |
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"gripper_z": 1.0051027730558983,
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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],
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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0.0
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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0.0,
|
| 92 |
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0.0,
|
| 93 |
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|
| 94 |
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],
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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},
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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"safety": {
|
| 103 |
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"policy": {
|
| 104 |
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"skill": "pick",
|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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],
|
| 110 |
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| 111 |
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"/World/beaker_2"
|
| 112 |
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],
|
| 113 |
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|
| 114 |
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"robot_prim_substrings": [
|
| 115 |
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"Robotiq2F85",
|
| 116 |
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"Robotiq_2F_85",
|
| 117 |
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"contact_sensor",
|
| 118 |
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"dummy_base_prismatic_x_joint",
|
| 119 |
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"dummy_base_prismatic_y_joint",
|
| 120 |
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"dummy_base_revolute_z_joint",
|
| 121 |
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"elbow_joint",
|
| 122 |
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"festo",
|
| 123 |
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"finger",
|
| 124 |
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"fr3",
|
| 125 |
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"fr3_duo_mobile",
|
| 126 |
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"fr3_joint1",
|
| 127 |
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"fr3_joint2",
|
| 128 |
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"fr3_joint3",
|
| 129 |
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"fr3_joint4",
|
| 130 |
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"fr3_joint5",
|
| 131 |
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"fr3_joint6",
|
| 132 |
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"fr3_joint7",
|
| 133 |
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"fr3_leftfinger",
|
| 134 |
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"fr3_rightfinger",
|
| 135 |
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"franka",
|
| 136 |
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"geometry",
|
| 137 |
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"gripper",
|
| 138 |
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"gripper_center",
|
| 139 |
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"joint1",
|
| 140 |
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"joint2",
|
| 141 |
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"joint3",
|
| 142 |
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"joint4",
|
| 143 |
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"joint5",
|
| 144 |
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"joint6",
|
| 145 |
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"joint7",
|
| 146 |
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"left_inner_finger",
|
| 147 |
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"lift2",
|
| 148 |
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"mobile_rotate",
|
| 149 |
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"mobile_translate_x",
|
| 150 |
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"mobile_translate_y",
|
| 151 |
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"panda_joint1",
|
| 152 |
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"panda_joint2",
|
| 153 |
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"panda_joint3",
|
| 154 |
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"panda_joint4",
|
| 155 |
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"panda_joint5",
|
| 156 |
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"panda_joint6",
|
| 157 |
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"panda_joint7",
|
| 158 |
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"panda_leftfinger",
|
| 159 |
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"panda_leftfingertip",
|
| 160 |
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"panda_rightfinger",
|
| 161 |
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"panda_rightfingertip",
|
| 162 |
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"ridgebase",
|
| 163 |
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"ridgebase_festo",
|
| 164 |
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"ridgebase_fr3",
|
| 165 |
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"ridgebase_rizon4",
|
| 166 |
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"ridgebase_ur16e",
|
| 167 |
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"ridgebase_ur5e",
|
| 168 |
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"right_inner_finger",
|
| 169 |
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"rizon4",
|
| 170 |
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"robot",
|
| 171 |
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"robotiq_2f85",
|
| 172 |
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"shoulder_lift_joint",
|
| 173 |
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"shoulder_pan_joint",
|
| 174 |
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"split_aloha",
|
| 175 |
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"tool_center",
|
| 176 |
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"ur16e",
|
| 177 |
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"ur5e",
|
| 178 |
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"visuals",
|
| 179 |
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"wrist",
|
| 180 |
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"wrist_1_joint",
|
| 181 |
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"wrist_2_joint",
|
| 182 |
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"wrist_3_joint"
|
| 183 |
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],
|
| 184 |
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|
| 185 |
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"base_link",
|
| 186 |
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"caster",
|
| 187 |
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"defaultgroundplane",
|
| 188 |
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"desk",
|
| 189 |
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"floor",
|
| 190 |
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"ground",
|
| 191 |
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"groundplane",
|
| 192 |
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"link0",
|
| 193 |
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"table",
|
| 194 |
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"wheel",
|
| 195 |
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"workbench"
|
| 196 |
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],
|
| 197 |
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"enabled": true
|
| 198 |
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},
|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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| 204 |
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| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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"allowed": [
|
| 209 |
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{
|
| 210 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
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"b": "/World/beaker_2/mesh"
|
| 212 |
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},
|
| 213 |
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{
|
| 214 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
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"b": "/World/beaker_2/mesh"
|
| 216 |
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}
|
| 217 |
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],
|
| 218 |
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|
| 219 |
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|
| 220 |
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},
|
| 221 |
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|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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},
|
| 228 |
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|
| 229 |
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"skill": "pick",
|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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"attach_allowed": false,
|
| 235 |
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"ordinary_object_physical_only": true
|
| 236 |
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}
|
| 237 |
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},
|
| 238 |
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{
|
| 239 |
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|
| 240 |
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"skill": "pour",
|
| 241 |
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"target": "beaker_c",
|
| 242 |
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"success": true,
|
| 243 |
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"reason": "executed",
|
| 244 |
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|
| 245 |
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"arm": null,
|
| 246 |
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|
| 247 |
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"checker": "PourSuccessChecker",
|
| 248 |
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"skill": "pour",
|
| 249 |
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"target": "beaker_c",
|
| 250 |
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"passed": true,
|
| 251 |
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"metrics": {
|
| 252 |
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"target": "beaker_c",
|
| 253 |
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| 254 |
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| 972 |
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"post_done_wait_exhausted": false
|
| 973 |
+
},
|
| 974 |
+
"physical_semantics": {
|
| 975 |
+
"skill": "place",
|
| 976 |
+
"target": "beaker_a",
|
| 977 |
+
"attach_used": false,
|
| 978 |
+
"attach_object": null,
|
| 979 |
+
"attach_object_path": null,
|
| 980 |
+
"attach_allowed": false,
|
| 981 |
+
"ordinary_object_physical_only": true
|
| 982 |
+
}
|
| 983 |
+
}
|
| 984 |
+
],
|
| 985 |
+
"physical_semantics": {
|
| 986 |
+
"attach_records": [],
|
| 987 |
+
"ordinary_attach_violations": [],
|
| 988 |
+
"forbidden_shortcuts_absent": true
|
| 989 |
+
},
|
| 990 |
+
"h5_episode_index": 7,
|
| 991 |
+
"reproducibility": {
|
| 992 |
+
"enabled": true,
|
| 993 |
+
"action_seed": 2891541627295583141,
|
| 994 |
+
"physical_seed": 1061768133550289122,
|
| 995 |
+
"layout_id": "layout_00016",
|
| 996 |
+
"step_seeds": [
|
| 997 |
+
1164515841808467485,
|
| 998 |
+
5066845160497422571,
|
| 999 |
+
1159376154734467498
|
| 1000 |
+
],
|
| 1001 |
+
"workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65",
|
| 1002 |
+
"strict_task_state": false,
|
| 1003 |
+
"allow_physical_randomization": true,
|
| 1004 |
+
"seed_source": "workflow.reproducibility",
|
| 1005 |
+
"task_island_state_digest": "6db0952a5d5133adc2bbcf64b314bdc197790d7449851fee681c7ea73f63db32",
|
| 1006 |
+
"visual_seed": 8877617930637545221,
|
| 1007 |
+
"episode_index": 7,
|
| 1008 |
+
"physical_randomization_enabled": true,
|
| 1009 |
+
"motion_controller_type": "ik_servo",
|
| 1010 |
+
"runtime_step_seeds": [
|
| 1011 |
+
1164515841808467485,
|
| 1012 |
+
5066845160497422571,
|
| 1013 |
+
1159376154734467498
|
| 1014 |
+
],
|
| 1015 |
+
"runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3"
|
| 1016 |
+
}
|
| 1017 |
+
}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_80_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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|
| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 47 |
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| 48 |
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| 49 |
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|
| 50 |
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|
| 51 |
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| 58 |
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| 66 |
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| 67 |
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| 68 |
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| 76 |
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| 77 |
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| 80 |
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| 86 |
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| 92 |
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| 93 |
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| 96 |
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| 98 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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|
| 118 |
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| 119 |
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| 120 |
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| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 185 |
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| 186 |
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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| 198 |
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| 199 |
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| 211 |
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| 212 |
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},
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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| 216 |
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"allow_physical_randomization": true,
|
| 1004 |
+
"seed_source": "workflow.reproducibility",
|
| 1005 |
+
"task_island_state_digest": "cf81241e7c182ba806e46d2ec54a3640de9c8b98c5f27d4645af27db70b30320",
|
| 1006 |
+
"visual_seed": 5195479363825794912,
|
| 1007 |
+
"episode_index": 80,
|
| 1008 |
+
"physical_randomization_enabled": true,
|
| 1009 |
+
"motion_controller_type": "ik_servo",
|
| 1010 |
+
"runtime_step_seeds": [
|
| 1011 |
+
1164515841808467485,
|
| 1012 |
+
5066845160497422571,
|
| 1013 |
+
1159376154734467498
|
| 1014 |
+
],
|
| 1015 |
+
"runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3"
|
| 1016 |
+
}
|
| 1017 |
+
}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_81_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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| 319 |
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| 332 |
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| 334 |
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| 335 |
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| 336 |
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|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_82_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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| 342 |
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"missing_target_orientation_samples": 0,
|
| 343 |
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"valid_pour_pose_frames": 0,
|
| 344 |
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"max_valid_pour_pose_frames": 219,
|
| 345 |
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"valid_pour_grasp_frames": 0,
|
| 346 |
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"max_valid_pour_grasp_frames": 219,
|
| 347 |
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"valid_pour_grasp_window_ok": true,
|
| 348 |
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"required_valid_pour_frames": 10,
|
| 349 |
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|
| 350 |
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"source_not_tilted"
|
| 351 |
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],
|
| 352 |
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"peak_end_effector_tilt_pose_failed_keys": [],
|
| 353 |
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"peak_end_effector_tilt_pose_metrics": {},
|
| 354 |
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|
| 355 |
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"pour_controller_debug": {
|
| 356 |
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"workflow_step_index": 1,
|
| 357 |
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"skill": "pour",
|
| 358 |
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|
| 359 |
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|
| 360 |
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|
| 361 |
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|
| 362 |
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0.375,
|
| 363 |
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|
| 364 |
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0.7701
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| 365 |
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],
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| 366 |
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| 367 |
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0.375,
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| 368 |
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-0.0033,
|
| 369 |
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0.7701
|
| 370 |
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],
|
| 371 |
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|
| 372 |
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-0.0,
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| 373 |
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0.0,
|
| 374 |
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0.0
|
| 375 |
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],
|
| 376 |
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|
| 377 |
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|
| 378 |
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|
| 379 |
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| 380 |
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|
| 381 |
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|
| 382 |
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],
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| 383 |
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| 384 |
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| 385 |
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| 386 |
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| 387 |
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],
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| 388 |
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|
| 389 |
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|
| 390 |
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| 391 |
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0.065,
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| 392 |
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| 393 |
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0.0904
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| 394 |
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],
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| 396 |
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0.3,
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| 397 |
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0.4
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| 398 |
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],
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| 399 |
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| 400 |
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0.2,
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| 401 |
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0.2
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| 402 |
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],
|
| 403 |
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|
| 404 |
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|
| 405 |
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|
| 406 |
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|
| 407 |
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|
| 408 |
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|
| 409 |
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|
| 410 |
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|
| 411 |
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|
| 412 |
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|
| 413 |
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1.0,
|
| 414 |
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0.0,
|
| 415 |
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0.0
|
| 416 |
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],
|
| 417 |
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|
| 418 |
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|
| 419 |
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|
| 420 |
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|
| 421 |
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0.3,
|
| 422 |
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0.4
|
| 423 |
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],
|
| 424 |
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|
| 425 |
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0.2,
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| 426 |
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0.2
|
| 427 |
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],
|
| 428 |
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|
| 429 |
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|
| 430 |
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|
| 431 |
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| 432 |
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| 433 |
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| 434 |
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| 435 |
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],
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| 436 |
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| 437 |
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},
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| 438 |
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|
| 439 |
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| 440 |
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|
| 441 |
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| 442 |
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| 443 |
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| 444 |
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|
| 445 |
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| 446 |
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| 447 |
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|
| 448 |
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|
| 449 |
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},
|
| 450 |
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| 451 |
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|
| 452 |
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|
| 453 |
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|
| 454 |
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|
| 455 |
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| 456 |
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| 457 |
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| 458 |
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0.7701
|
| 459 |
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],
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| 460 |
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| 461 |
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0.375,
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| 462 |
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| 463 |
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0.7701
|
| 464 |
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],
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| 465 |
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| 466 |
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| 467 |
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0.0,
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| 468 |
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0.0
|
| 469 |
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],
|
| 470 |
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|
| 471 |
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| 472 |
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| 473 |
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0.0015,
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| 474 |
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| 475 |
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-0.0008
|
| 476 |
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],
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| 477 |
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| 478 |
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0.3765,
|
| 479 |
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| 480 |
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1.0346
|
| 481 |
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],
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| 482 |
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|
| 483 |
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| 484 |
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| 485 |
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| 486 |
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| 487 |
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0.0904
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| 488 |
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| 489 |
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| 490 |
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0.4
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| 492 |
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],
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| 493 |
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| 494 |
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0.2,
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| 495 |
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0.2
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| 496 |
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],
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| 497 |
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|
| 498 |
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| 499 |
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| 500 |
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| 501 |
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| 502 |
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| 503 |
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| 504 |
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| 505 |
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| 506 |
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| 507 |
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1.0,
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| 508 |
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0.0,
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| 509 |
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0.0
|
| 510 |
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],
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| 511 |
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| 512 |
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| 513 |
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| 514 |
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| 515 |
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0.3,
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| 516 |
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0.4
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| 517 |
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],
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| 518 |
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| 519 |
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| 520 |
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0.2
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| 521 |
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],
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| 522 |
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| 523 |
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| 524 |
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| 526 |
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| 528 |
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| 529 |
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],
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| 530 |
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| 531 |
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},
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| 532 |
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| 533 |
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| 534 |
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| 535 |
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| 536 |
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| 539 |
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| 540 |
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| 541 |
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| 542 |
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| 543 |
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| 544 |
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| 545 |
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"source_not_tilted"
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| 546 |
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],
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| 547 |
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| 549 |
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| 550 |
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| 555 |
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|
| 556 |
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|
| 557 |
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| 558 |
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0.0,
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| 559 |
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0.0,
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| 560 |
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1.0
|
| 561 |
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],
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| 563 |
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| 564 |
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| 565 |
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| 566 |
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| 567 |
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| 568 |
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| 569 |
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| 570 |
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0.3803403571046402,
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| 571 |
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-0.036504388310794375,
|
| 572 |
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1.0356406245210596
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| 575 |
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0.36835637713577146,
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1.0356406245210596
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| 578 |
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| 580 |
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0.3743483671202058,
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| 581 |
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1.0356406245210596
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| 585 |
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0.3803403571046402,
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|
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1.0356406245210596
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| 591 |
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"valid_pour_held_grasp_geometry_frame": "object_local",
|
| 592 |
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| 593 |
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| 594 |
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|
| 595 |
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|
| 596 |
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|
| 597 |
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|
| 598 |
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0.01915536875786106,
|
| 599 |
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-0.9993394137071908,
|
| 600 |
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0.030883783108918705
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| 601 |
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],
|
| 602 |
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|
| 603 |
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|
| 604 |
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|
| 605 |
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| 606 |
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|
| 607 |
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|
| 608 |
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"held_grasp_geometry_checked": true,
|
| 609 |
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"held_grasp_geometry_required": true,
|
| 610 |
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"held_grasp_source": "active_contact_pad_positions",
|
| 611 |
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| 612 |
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0.3803403571046402,
|
| 613 |
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|
| 614 |
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1.0356406245210596
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| 615 |
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],
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| 616 |
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| 617 |
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0.36835637713577146,
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| 618 |
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| 619 |
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1.0356406245210596
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| 620 |
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],
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| 621 |
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| 622 |
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0.3743483671202058,
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| 623 |
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-0.024485104050146075,
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| 624 |
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1.0356406245210596
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| 625 |
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],
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| 626 |
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| 627 |
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0.3803403571046402,
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| 628 |
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|
| 629 |
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1.0356406245210596
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| 630 |
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],
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| 631 |
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| 632 |
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| 633 |
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| 634 |
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|
| 635 |
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|
| 636 |
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|
| 637 |
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|
| 638 |
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|
| 639 |
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| 640 |
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0.01915536875786106,
|
| 641 |
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|
| 642 |
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0.030883783108918705
|
| 643 |
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],
|
| 644 |
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|
| 645 |
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|
| 646 |
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|
| 647 |
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|
| 648 |
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|
| 649 |
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|
| 650 |
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"liquid_check_enabled": false,
|
| 651 |
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"liquid_source": "beaker_a",
|
| 652 |
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"liquid_target": "beaker_c"
|
| 653 |
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},
|
| 654 |
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"failed_keys": [],
|
| 655 |
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"failure_code": null,
|
| 656 |
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"failure_messages": {},
|
| 657 |
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"safety": {
|
| 658 |
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"policy": {
|
| 659 |
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"skill": "pour",
|
| 660 |
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"target_object": "beaker_c",
|
| 661 |
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"held_object": "beaker_a",
|
| 662 |
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"allowed_objects": [
|
| 663 |
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"beaker_a",
|
| 664 |
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"beaker_c"
|
| 665 |
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],
|
| 666 |
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"allowed_object_paths": [
|
| 667 |
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"/World/beaker_2",
|
| 668 |
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"/World/beaker_3"
|
| 669 |
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],
|
| 670 |
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"allowed_prim_substrings": [],
|
| 671 |
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"robot_prim_substrings": [
|
| 672 |
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"Robotiq2F85",
|
| 673 |
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"Robotiq_2F_85",
|
| 674 |
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"contact_sensor",
|
| 675 |
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"dummy_base_prismatic_x_joint",
|
| 676 |
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"dummy_base_prismatic_y_joint",
|
| 677 |
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"dummy_base_revolute_z_joint",
|
| 678 |
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"elbow_joint",
|
| 679 |
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"festo",
|
| 680 |
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"finger",
|
| 681 |
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"fr3",
|
| 682 |
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"fr3_duo_mobile",
|
| 683 |
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"fr3_joint1",
|
| 684 |
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"fr3_joint2",
|
| 685 |
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"fr3_joint3",
|
| 686 |
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"fr3_joint4",
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|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_83_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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| 374 |
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-0.0
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| 375 |
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|
| 376 |
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|
| 377 |
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|
| 378 |
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|
| 379 |
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| 380 |
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| 381 |
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| 382 |
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],
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| 383 |
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| 384 |
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| 385 |
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| 404 |
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| 405 |
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| 406 |
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| 407 |
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| 408 |
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|
| 409 |
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|
| 410 |
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| 411 |
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| 415 |
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| 416 |
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| 419 |
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| 421 |
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| 423 |
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| 427 |
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| 437 |
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| 439 |
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| 441 |
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| 449 |
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| 451 |
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| 452 |
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| 453 |
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| 454 |
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| 455 |
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| 456 |
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| 458 |
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| 459 |
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| 462 |
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| 463 |
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| 464 |
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| 466 |
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| 467 |
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| 468 |
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| 469 |
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| 473 |
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| 476 |
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| 480 |
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| 496 |
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| 498 |
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| 501 |
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| 502 |
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| 503 |
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| 504 |
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| 505 |
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| 506 |
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| 507 |
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| 510 |
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| 517 |
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| 531 |
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| 558 |
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0.0,
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0.0,
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1.0
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0.377748278551544,
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| 598 |
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| 608 |
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| 609 |
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| 610 |
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| 611 |
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0.377748278551544,
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1.0352971833743734
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1.0352971833743734
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1.0352971833743734
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| 635 |
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| 638 |
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| 639 |
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| 640 |
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0.04757490319169698
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],
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|
| 646 |
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|
| 647 |
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| 648 |
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| 649 |
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|
| 650 |
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"liquid_check_enabled": false,
|
| 651 |
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"liquid_source": "beaker_a",
|
| 652 |
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"liquid_target": "beaker_c"
|
| 653 |
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},
|
| 654 |
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"failed_keys": [],
|
| 655 |
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"failure_code": null,
|
| 656 |
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"failure_messages": {},
|
| 657 |
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"safety": {
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| 658 |
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"policy": {
|
| 659 |
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"skill": "pour",
|
| 660 |
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"target_object": "beaker_c",
|
| 661 |
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"held_object": "beaker_a",
|
| 662 |
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"allowed_objects": [
|
| 663 |
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"beaker_a",
|
| 664 |
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"beaker_c"
|
| 665 |
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],
|
| 666 |
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"allowed_object_paths": [
|
| 667 |
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"/World/beaker_2",
|
| 668 |
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"/World/beaker_3"
|
| 669 |
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],
|
| 670 |
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"allowed_prim_substrings": [],
|
| 671 |
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"robot_prim_substrings": [
|
| 672 |
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"Robotiq2F85",
|
| 673 |
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"Robotiq_2F_85",
|
| 674 |
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"contact_sensor",
|
| 675 |
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"dummy_base_prismatic_x_joint",
|
| 676 |
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"dummy_base_prismatic_y_joint",
|
| 677 |
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"dummy_base_revolute_z_joint",
|
| 678 |
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"elbow_joint",
|
| 679 |
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"festo",
|
| 680 |
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"finger",
|
| 681 |
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"fr3",
|
| 682 |
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"fr3_duo_mobile",
|
| 683 |
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"fr3_joint1",
|
| 684 |
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"fr3_joint2",
|
| 685 |
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"fr3_joint3",
|
| 686 |
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"fr3_joint4",
|
| 687 |
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"fr3_joint5",
|
| 688 |
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"fr3_joint6",
|
| 689 |
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"fr3_joint7",
|
| 690 |
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"fr3_leftfinger",
|
| 691 |
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"fr3_rightfinger",
|
| 692 |
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"franka",
|
| 693 |
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"geometry",
|
| 694 |
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"gripper",
|
| 695 |
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"gripper_center",
|
| 696 |
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"joint1",
|
| 697 |
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"joint2",
|
| 698 |
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"joint3",
|
| 699 |
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"joint4",
|
| 700 |
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"joint5",
|
| 701 |
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"joint6",
|
| 702 |
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"joint7",
|
| 703 |
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"left_inner_finger",
|
| 704 |
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"lift2",
|
| 705 |
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"mobile_rotate",
|
| 706 |
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"mobile_translate_x",
|
| 707 |
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"mobile_translate_y",
|
| 708 |
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"panda_joint1",
|
| 709 |
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"panda_joint2",
|
| 710 |
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"panda_joint3",
|
| 711 |
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"panda_joint4",
|
| 712 |
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"panda_joint5",
|
| 713 |
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"panda_joint6",
|
| 714 |
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"panda_joint7",
|
| 715 |
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"panda_leftfinger",
|
| 716 |
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"panda_leftfingertip",
|
| 717 |
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"panda_rightfinger",
|
| 718 |
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"panda_rightfingertip",
|
| 719 |
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"ridgebase",
|
| 720 |
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"ridgebase_festo",
|
| 721 |
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"ridgebase_fr3",
|
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|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_84_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 84,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.3016094771201563,
|
| 26 |
+
0.19843969613283832,
|
| 27 |
+
1.0008361786421984
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0008361786421984,
|
| 30 |
+
"required_z": 0.8611066868287003,
|
| 31 |
+
"initial_z": 0.7611066868287003,
|
| 32 |
+
"lift_margin": 0.13972949181349814,
|
| 33 |
+
"gripper_z": 1.0017851871808725,
|
| 34 |
+
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|
| 411 |
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|
| 412 |
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|
| 413 |
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1.0,
|
| 414 |
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0.0,
|
| 415 |
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0.0
|
| 416 |
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],
|
| 417 |
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|
| 418 |
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|
| 419 |
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|
| 420 |
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|
| 421 |
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0.3,
|
| 422 |
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0.4
|
| 423 |
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],
|
| 424 |
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"pour_height_range_m": [
|
| 425 |
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0.2,
|
| 426 |
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0.2
|
| 427 |
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],
|
| 428 |
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|
| 429 |
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|
| 430 |
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|
| 431 |
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|
| 432 |
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|
| 433 |
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|
| 434 |
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|
| 435 |
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],
|
| 436 |
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|
| 437 |
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},
|
| 438 |
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|
| 439 |
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|
| 440 |
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|
| 441 |
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|
| 442 |
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|
| 443 |
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|
| 444 |
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|
| 445 |
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|
| 446 |
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|
| 447 |
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|
| 448 |
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|
| 449 |
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},
|
| 450 |
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|
| 451 |
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"pour_controller_skill": "pour",
|
| 452 |
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|
| 453 |
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"pour_controller_source_name": "beaker",
|
| 454 |
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|
| 455 |
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|
| 456 |
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0.374,
|
| 457 |
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-0.0062,
|
| 458 |
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0.7701
|
| 459 |
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],
|
| 460 |
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|
| 461 |
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0.374,
|
| 462 |
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|
| 463 |
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0.7701
|
| 464 |
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],
|
| 465 |
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|
| 466 |
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-0.0,
|
| 467 |
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-0.0,
|
| 468 |
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-0.0
|
| 469 |
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],
|
| 470 |
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|
| 471 |
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|
| 472 |
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|
| 473 |
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|
| 474 |
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-0.0017,
|
| 475 |
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-0.0014
|
| 476 |
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],
|
| 477 |
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|
| 478 |
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0.376,
|
| 479 |
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-0.0331,
|
| 480 |
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1.034
|
| 481 |
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],
|
| 482 |
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|
| 483 |
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|
| 484 |
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| 485 |
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0.065,
|
| 486 |
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0.0603,
|
| 487 |
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0.0904
|
| 488 |
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],
|
| 489 |
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| 490 |
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0.3,
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| 491 |
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0.4
|
| 492 |
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],
|
| 493 |
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| 494 |
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0.2,
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| 495 |
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0.2
|
| 496 |
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],
|
| 497 |
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|
| 498 |
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|
| 499 |
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|
| 500 |
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|
| 501 |
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|
| 502 |
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|
| 503 |
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"source_name": "beaker",
|
| 504 |
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|
| 505 |
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|
| 506 |
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| 507 |
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|
| 508 |
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0.0,
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| 509 |
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0.0
|
| 510 |
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],
|
| 511 |
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|
| 512 |
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|
| 513 |
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| 514 |
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| 515 |
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0.3,
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| 516 |
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0.4
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| 517 |
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],
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| 518 |
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| 519 |
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0.2,
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| 520 |
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0.2
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| 521 |
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],
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| 522 |
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| 523 |
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| 524 |
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| 525 |
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| 526 |
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| 528 |
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| 529 |
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],
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| 530 |
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|
| 531 |
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},
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| 532 |
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|
| 533 |
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| 534 |
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| 535 |
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| 536 |
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| 537 |
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|
| 538 |
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| 539 |
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| 540 |
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| 541 |
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| 542 |
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| 543 |
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| 544 |
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| 545 |
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"source_not_tilted"
|
| 546 |
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],
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| 547 |
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| 548 |
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| 550 |
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| 551 |
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| 552 |
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| 555 |
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| 556 |
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| 557 |
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| 558 |
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0.0,
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| 559 |
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0.0,
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| 560 |
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1.0
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| 561 |
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],
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| 564 |
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|
| 565 |
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| 566 |
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| 567 |
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|
| 568 |
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| 569 |
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| 570 |
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0.3801530589488784,
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| 571 |
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|
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1.0336956597655556
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],
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0.3690130376373621,
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1.0336956597655556
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0.3745830482931203,
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1.0336956597655556
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0.3801530589488784,
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1.0336956597655556
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| 592 |
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| 593 |
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| 596 |
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| 598 |
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0.0058131358212055095,
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| 599 |
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-0.9989695300915368,
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| 600 |
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0.04501205839126343
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| 601 |
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],
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| 603 |
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| 608 |
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|
| 609 |
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|
| 610 |
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|
| 611 |
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| 612 |
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0.3801530589488784,
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| 613 |
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| 614 |
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1.0336956597655556
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],
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| 616 |
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0.3690130376373621,
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| 619 |
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1.0336956597655556
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0.3745830482931203,
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| 623 |
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| 624 |
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1.0336956597655556
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| 625 |
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],
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0.3801530589488784,
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| 629 |
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1.0336956597655556
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| 632 |
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| 633 |
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| 634 |
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| 635 |
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| 637 |
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| 638 |
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"held_grasp_z_skew_frame": "object_local_up",
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| 639 |
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"held_grasp_local_up_axis": [
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| 640 |
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0.0058131358212055095,
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| 641 |
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-0.9989695300915368,
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0.04501205839126343
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| 643 |
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],
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|
| 646 |
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|
| 647 |
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|
| 648 |
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|
| 649 |
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|
| 650 |
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"liquid_check_enabled": false,
|
| 651 |
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"liquid_source": "beaker_a",
|
| 652 |
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"liquid_target": "beaker_c"
|
| 653 |
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},
|
| 654 |
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"failed_keys": [],
|
| 655 |
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"failure_code": null,
|
| 656 |
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"failure_messages": {},
|
| 657 |
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"safety": {
|
| 658 |
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"policy": {
|
| 659 |
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"skill": "pour",
|
| 660 |
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"target_object": "beaker_c",
|
| 661 |
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"held_object": "beaker_a",
|
| 662 |
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"allowed_objects": [
|
| 663 |
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"beaker_a",
|
| 664 |
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"beaker_c"
|
| 665 |
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],
|
| 666 |
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"allowed_object_paths": [
|
| 667 |
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"/World/beaker_2",
|
| 668 |
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"/World/beaker_3"
|
| 669 |
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],
|
| 670 |
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"allowed_prim_substrings": [],
|
| 671 |
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"robot_prim_substrings": [
|
| 672 |
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"Robotiq2F85",
|
| 673 |
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"Robotiq_2F_85",
|
| 674 |
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"contact_sensor",
|
| 675 |
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"dummy_base_prismatic_x_joint",
|
| 676 |
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"dummy_base_prismatic_y_joint",
|
| 677 |
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"dummy_base_revolute_z_joint",
|
| 678 |
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"elbow_joint",
|
| 679 |
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"festo",
|
| 680 |
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"finger",
|
| 681 |
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"fr3",
|
| 682 |
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"fr3_duo_mobile",
|
| 683 |
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"fr3_joint1",
|
| 684 |
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"fr3_joint2",
|
| 685 |
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"fr3_joint3",
|
| 686 |
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"fr3_joint4",
|
| 687 |
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"fr3_joint5",
|
| 688 |
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"fr3_joint6",
|
| 689 |
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"fr3_joint7",
|
| 690 |
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"fr3_leftfinger",
|
| 691 |
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"fr3_rightfinger",
|
| 692 |
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"franka",
|
| 693 |
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"geometry",
|
| 694 |
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"gripper",
|
| 695 |
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"gripper_center",
|
| 696 |
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"joint1",
|
| 697 |
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"joint2",
|
| 698 |
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"joint3",
|
| 699 |
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"joint4",
|
| 700 |
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"joint5",
|
| 701 |
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"joint6",
|
| 702 |
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"joint7",
|
| 703 |
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"left_inner_finger",
|
| 704 |
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"lift2",
|
| 705 |
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"mobile_rotate",
|
| 706 |
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"mobile_translate_x",
|
| 707 |
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"mobile_translate_y",
|
| 708 |
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"panda_joint1",
|
| 709 |
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"panda_joint2",
|
| 710 |
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"panda_joint3",
|
| 711 |
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"panda_joint4",
|
| 712 |
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"panda_joint5",
|
| 713 |
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"panda_joint6",
|
| 714 |
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"panda_joint7",
|
| 715 |
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"panda_leftfinger",
|
| 716 |
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"panda_leftfingertip",
|
| 717 |
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"panda_rightfinger",
|
| 718 |
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"panda_rightfingertip",
|
| 719 |
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"ridgebase",
|
| 720 |
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"ridgebase_festo",
|
| 721 |
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"ridgebase_fr3",
|
| 722 |
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"ridgebase_rizon4",
|
| 723 |
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"ridgebase_ur16e",
|
| 724 |
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"ridgebase_ur5e",
|
| 725 |
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"right_inner_finger",
|
| 726 |
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"rizon4",
|
| 727 |
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"robot",
|
| 728 |
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"robotiq_2f85",
|
| 729 |
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"shoulder_lift_joint",
|
| 730 |
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"shoulder_pan_joint",
|
| 731 |
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"split_aloha",
|
| 732 |
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"tool_center",
|
| 733 |
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"ur16e",
|
| 734 |
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"ur5e",
|
| 735 |
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"visuals",
|
| 736 |
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"wrist",
|
| 737 |
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"wrist_1_joint",
|
| 738 |
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"wrist_2_joint",
|
| 739 |
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"wrist_3_joint"
|
| 740 |
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],
|
| 741 |
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"ignored_prim_substrings": [
|
| 742 |
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"base_link",
|
| 743 |
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"caster",
|
| 744 |
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"defaultgroundplane",
|
| 745 |
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"desk",
|
| 746 |
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"floor",
|
| 747 |
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"ground",
|
| 748 |
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"groundplane",
|
| 749 |
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"link0",
|
| 750 |
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"table",
|
| 751 |
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"wheel",
|
| 752 |
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"workbench"
|
| 753 |
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],
|
| 754 |
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"enabled": true
|
| 755 |
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},
|
| 756 |
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"status": "active",
|
| 757 |
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"passed": true,
|
| 758 |
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"source_missing": false,
|
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|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_85_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 85,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2928480764465825,
|
| 26 |
+
0.20713530459347454,
|
| 27 |
+
1.0022846514453039
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0022846514453039,
|
| 30 |
+
"required_z": 0.8611065080147661,
|
| 31 |
+
"initial_z": 0.7611065080147661,
|
| 32 |
+
"lift_margin": 0.1411781434305378,
|
| 33 |
+
"gripper_z": 1.0035257908261628,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.28778258102718957,
|
| 38 |
+
0.2022079082974751,
|
| 39 |
+
1.0035257908261628
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.00506549541939294,
|
| 43 |
+
0.004927396295999448,
|
| 44 |
+
-0.0012411393808589022
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.007066716217715265,
|
| 47 |
+
"object_to_gripper_z": -0.0012411393808589022,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2928480764465825,
|
| 51 |
+
0.18284702230236957,
|
| 52 |
+
1.0022846514453039
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2807174495040857,
|
| 56 |
+
0.20713530459347454,
|
| 57 |
+
1.0022846514453039
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2867827629753341,
|
| 61 |
+
0.19499116344792206,
|
| 62 |
+
1.0022846514453039
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.00606531347124839,
|
| 66 |
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| 795 |
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|
| 796 |
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| 799 |
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| 800 |
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| 802 |
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| 803 |
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| 804 |
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| 805 |
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| 806 |
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|
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|
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|
| 872 |
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|
| 873 |
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| 881 |
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| 883 |
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|
| 884 |
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| 886 |
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| 888 |
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| 890 |
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| 895 |
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| 896 |
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| 897 |
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| 898 |
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|
| 899 |
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| 900 |
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| 901 |
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|
| 902 |
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|
| 903 |
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|
| 904 |
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|
| 905 |
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|
| 906 |
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|
| 907 |
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|
| 908 |
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|
| 909 |
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"panda_joint4",
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| 910 |
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| 911 |
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| 913 |
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|
| 914 |
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| 915 |
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| 916 |
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| 917 |
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| 918 |
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| 919 |
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| 920 |
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|
| 922 |
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| 923 |
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| 924 |
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|
| 925 |
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|
| 926 |
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| 927 |
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|
| 928 |
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|
| 929 |
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| 930 |
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| 931 |
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|
| 932 |
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| 933 |
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|
| 934 |
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|
| 935 |
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|
| 936 |
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|
| 937 |
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|
| 938 |
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| 939 |
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| 940 |
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|
| 941 |
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|
| 943 |
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| 944 |
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| 945 |
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"ground",
|
| 946 |
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|
| 947 |
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| 949 |
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| 950 |
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|
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|
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|
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|
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|
| 991 |
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|
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|
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|
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}
|
| 1017 |
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}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_86_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 86,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.29833262210953754,
|
| 26 |
+
0.20606462888114105,
|
| 27 |
+
1.0033254755426761
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0033254755426761,
|
| 30 |
+
"required_z": 0.8611063888054765,
|
| 31 |
+
"initial_z": 0.7611063888054765,
|
| 32 |
+
"lift_margin": 0.14221908673719963,
|
| 33 |
+
"gripper_z": 1.0043314469734779,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2932406728823256,
|
| 38 |
+
0.20129876612990186,
|
| 39 |
+
1.0043314469734779
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005091949227211956,
|
| 43 |
+
0.0047658627512391916,
|
| 44 |
+
-0.001005971430801722
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006974338298086323,
|
| 47 |
+
"object_to_gripper_z": -0.001005971430801722,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.29833262210953754,
|
| 51 |
+
0.18144342745664416,
|
| 52 |
+
1.0033254755426761
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2868329062473542,
|
| 56 |
+
0.20606462888114105,
|
| 57 |
+
1.0033254755426761
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.29258276417844586,
|
| 61 |
+
0.1937540281688926,
|
| 62 |
+
1.0033254755426761
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005749857931091673,
|
| 66 |
+
0.01231060071224846,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027174381768434015,
|
| 70 |
+
"fingertip_max_gap": 0.09117189606459539,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01358719088421702,
|
| 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": 1.0033254755426761,
|
| 78 |
+
"object_top_z": 1.0532013822071153,
|
| 79 |
+
"finger_top_clearance": 0.049875906664439196,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014962771999331742,
|
| 81 |
+
"object_projection_between_fingers": 0.8209167881729879,
|
| 82 |
+
"object_to_finger_line_xy": 0.01041925527432575,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.048085948032297696,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.0477043046878676,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
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|
| 822 |
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|
| 823 |
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|
| 824 |
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|
| 825 |
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|
| 826 |
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|
| 827 |
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|
| 828 |
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|
| 829 |
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|
| 830 |
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|
| 831 |
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"object_upright_reference_source": "scene_initial",
|
| 832 |
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|
| 833 |
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"release_finger_gap": 0.07527358557258283,
|
| 834 |
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"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 835 |
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"release_fingertip_min_gap": 0.08613620248248664,
|
| 836 |
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|
| 837 |
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|
| 838 |
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|
| 839 |
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|
| 840 |
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|
| 841 |
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|
| 842 |
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|
| 843 |
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"virtual_attach_allowed": false,
|
| 844 |
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|
| 845 |
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|
| 846 |
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|
| 847 |
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"object_max_tilt_deg": 12.0,
|
| 848 |
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|
| 849 |
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|
| 850 |
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|
| 851 |
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|
| 852 |
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|
| 853 |
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},
|
| 854 |
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|
| 855 |
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"failure_code": null,
|
| 856 |
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|
| 857 |
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"safety": {
|
| 858 |
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"policy": {
|
| 859 |
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"skill": "place",
|
| 860 |
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"target_object": "beaker_a",
|
| 861 |
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"held_object": "beaker_a",
|
| 862 |
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"allowed_objects": [
|
| 863 |
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"beaker_a"
|
| 864 |
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],
|
| 865 |
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"allowed_object_paths": [
|
| 866 |
+
"/World/beaker_2"
|
| 867 |
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],
|
| 868 |
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"allowed_prim_substrings": [],
|
| 869 |
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"robot_prim_substrings": [
|
| 870 |
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"Robotiq2F85",
|
| 871 |
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"Robotiq_2F_85",
|
| 872 |
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"contact_sensor",
|
| 873 |
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"dummy_base_prismatic_x_joint",
|
| 874 |
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"dummy_base_prismatic_y_joint",
|
| 875 |
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"dummy_base_revolute_z_joint",
|
| 876 |
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"elbow_joint",
|
| 877 |
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"festo",
|
| 878 |
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"finger",
|
| 879 |
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"fr3",
|
| 880 |
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"fr3_duo_mobile",
|
| 881 |
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"fr3_joint1",
|
| 882 |
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"fr3_joint2",
|
| 883 |
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"fr3_joint3",
|
| 884 |
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"fr3_joint4",
|
| 885 |
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"fr3_joint5",
|
| 886 |
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"fr3_joint6",
|
| 887 |
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"fr3_joint7",
|
| 888 |
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"fr3_leftfinger",
|
| 889 |
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"fr3_rightfinger",
|
| 890 |
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"franka",
|
| 891 |
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"geometry",
|
| 892 |
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"gripper",
|
| 893 |
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"gripper_center",
|
| 894 |
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"joint1",
|
| 895 |
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"joint2",
|
| 896 |
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"joint3",
|
| 897 |
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"joint4",
|
| 898 |
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"joint5",
|
| 899 |
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"joint6",
|
| 900 |
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"joint7",
|
| 901 |
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"left_inner_finger",
|
| 902 |
+
"lift2",
|
| 903 |
+
"mobile_rotate",
|
| 904 |
+
"mobile_translate_x",
|
| 905 |
+
"mobile_translate_y",
|
| 906 |
+
"panda_joint1",
|
| 907 |
+
"panda_joint2",
|
| 908 |
+
"panda_joint3",
|
| 909 |
+
"panda_joint4",
|
| 910 |
+
"panda_joint5",
|
| 911 |
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"panda_joint6",
|
| 912 |
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"panda_joint7",
|
| 913 |
+
"panda_leftfinger",
|
| 914 |
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"panda_leftfingertip",
|
| 915 |
+
"panda_rightfinger",
|
| 916 |
+
"panda_rightfingertip",
|
| 917 |
+
"ridgebase",
|
| 918 |
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"ridgebase_festo",
|
| 919 |
+
"ridgebase_fr3",
|
| 920 |
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"ridgebase_rizon4",
|
| 921 |
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"ridgebase_ur16e",
|
| 922 |
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"ridgebase_ur5e",
|
| 923 |
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"right_inner_finger",
|
| 924 |
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"rizon4",
|
| 925 |
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"robot",
|
| 926 |
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"robotiq_2f85",
|
| 927 |
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"shoulder_lift_joint",
|
| 928 |
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"shoulder_pan_joint",
|
| 929 |
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"split_aloha",
|
| 930 |
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"tool_center",
|
| 931 |
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"ur16e",
|
| 932 |
+
"ur5e",
|
| 933 |
+
"visuals",
|
| 934 |
+
"wrist",
|
| 935 |
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"wrist_1_joint",
|
| 936 |
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"wrist_2_joint",
|
| 937 |
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"wrist_3_joint"
|
| 938 |
+
],
|
| 939 |
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"ignored_prim_substrings": [
|
| 940 |
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"base_link",
|
| 941 |
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"caster",
|
| 942 |
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"defaultgroundplane",
|
| 943 |
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"desk",
|
| 944 |
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"floor",
|
| 945 |
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"ground",
|
| 946 |
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"groundplane",
|
| 947 |
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"link0",
|
| 948 |
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"table",
|
| 949 |
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"wheel",
|
| 950 |
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"workbench"
|
| 951 |
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],
|
| 952 |
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"enabled": true
|
| 953 |
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},
|
| 954 |
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"status": "active",
|
| 955 |
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"passed": true,
|
| 956 |
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"source_missing": false,
|
| 957 |
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|
| 958 |
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|
| 959 |
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"last_frame": {
|
| 960 |
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"passed": true,
|
| 961 |
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"source_missing": false,
|
| 962 |
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|
| 963 |
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|
| 964 |
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|
| 965 |
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|
| 966 |
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},
|
| 967 |
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"failed_keys": []
|
| 968 |
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}
|
| 969 |
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},
|
| 970 |
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|
| 971 |
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|
| 972 |
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"post_done_wait_exhausted": false
|
| 973 |
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},
|
| 974 |
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"physical_semantics": {
|
| 975 |
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"skill": "place",
|
| 976 |
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"target": "beaker_a",
|
| 977 |
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"attach_used": false,
|
| 978 |
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|
| 979 |
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"attach_object_path": null,
|
| 980 |
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"attach_allowed": false,
|
| 981 |
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"ordinary_object_physical_only": true
|
| 982 |
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}
|
| 983 |
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}
|
| 984 |
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],
|
| 985 |
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"physical_semantics": {
|
| 986 |
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"attach_records": [],
|
| 987 |
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"ordinary_attach_violations": [],
|
| 988 |
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"forbidden_shortcuts_absent": true
|
| 989 |
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},
|
| 990 |
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"h5_episode_index": 86,
|
| 991 |
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"reproducibility": {
|
| 992 |
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"enabled": true,
|
| 993 |
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"action_seed": 2891541627295583141,
|
| 994 |
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|
| 995 |
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|
| 996 |
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|
| 997 |
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|
| 998 |
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|
| 999 |
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|
| 1000 |
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],
|
| 1001 |
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"workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65",
|
| 1002 |
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"strict_task_state": false,
|
| 1003 |
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"allow_physical_randomization": true,
|
| 1004 |
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"seed_source": "workflow.reproducibility",
|
| 1005 |
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"task_island_state_digest": "42b461c2e80080a274de9ed4ab42e476a1c78cc6640c87a5a226becc4ff237b8",
|
| 1006 |
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|
| 1007 |
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"episode_index": 86,
|
| 1008 |
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"physical_randomization_enabled": true,
|
| 1009 |
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"motion_controller_type": "ik_servo",
|
| 1010 |
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"runtime_step_seeds": [
|
| 1011 |
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|
| 1012 |
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|
| 1013 |
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|
| 1014 |
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|
| 1015 |
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|
| 1016 |
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}
|
| 1017 |
+
}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_87_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 87,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"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 |
+
0.30098672812440186,
|
| 26 |
+
0.2019783088292155,
|
| 27 |
+
1.0016703364106117
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0016703364106117,
|
| 30 |
+
"required_z": 0.8611066868287001,
|
| 31 |
+
"initial_z": 0.7611066868287001,
|
| 32 |
+
"lift_margin": 0.1405636495819116,
|
| 33 |
+
"gripper_z": 1.0031373534005268,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.29598251122720054,
|
| 38 |
+
0.19708793658726803,
|
| 39 |
+
1.0031373534005268
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005004216897201319,
|
| 43 |
+
0.004890372241947466,
|
| 44 |
+
-0.0014670169899151375
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006996994170288088,
|
| 47 |
+
"object_to_gripper_z": -0.0014670169899151375,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.30098672812440186,
|
| 51 |
+
0.1777333091453164,
|
| 52 |
+
1.0016703364106117
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2889092951283899,
|
| 56 |
+
0.2019783088292155,
|
| 57 |
+
1.0016703364106117
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2949480116263959,
|
| 61 |
+
0.18985580898726595,
|
| 62 |
+
1.0016703364106117
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.006038716498005969,
|
| 66 |
+
0.012122499841949547,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027086609190620836,
|
| 70 |
+
"fingertip_max_gap": 0.09129274091024078,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013543304595310418,
|
| 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": 1.0016703364106117,
|
| 78 |
+
"object_top_z": 1.0515069529565575,
|
| 79 |
+
"finger_top_clearance": 0.049836616545945844,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014950984963783769,
|
| 81 |
+
"object_projection_between_fingers": 0.8011891921362442,
|
| 82 |
+
"object_to_finger_line_xy": 0.010810410306802604,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.048146370455120394,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.215276574055449,
|
| 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": 172,
|
| 96 |
+
"max_stable_success_frames": 172,
|
| 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 |
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"fr3_joint1",
|
| 127 |
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"fr3_joint2",
|
| 128 |
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"fr3_joint3",
|
| 129 |
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"fr3_joint4",
|
| 130 |
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"fr3_joint5",
|
| 131 |
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"fr3_joint6",
|
| 132 |
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"fr3_joint7",
|
| 133 |
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"fr3_leftfinger",
|
| 134 |
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"fr3_rightfinger",
|
| 135 |
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"franka",
|
| 136 |
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"geometry",
|
| 137 |
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"gripper",
|
| 138 |
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"gripper_center",
|
| 139 |
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"joint1",
|
| 140 |
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"joint2",
|
| 141 |
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"joint3",
|
| 142 |
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"joint4",
|
| 143 |
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"joint5",
|
| 144 |
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"joint6",
|
| 145 |
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"joint7",
|
| 146 |
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"left_inner_finger",
|
| 147 |
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"lift2",
|
| 148 |
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"mobile_rotate",
|
| 149 |
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"mobile_translate_x",
|
| 150 |
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"mobile_translate_y",
|
| 151 |
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"panda_joint1",
|
| 152 |
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"panda_joint2",
|
| 153 |
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"panda_joint3",
|
| 154 |
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"panda_joint4",
|
| 155 |
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"panda_joint5",
|
| 156 |
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"panda_joint6",
|
| 157 |
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"panda_joint7",
|
| 158 |
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"panda_leftfinger",
|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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"ridgebase_fr3",
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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"rizon4",
|
| 170 |
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"robot",
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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"split_aloha",
|
| 175 |
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"tool_center",
|
| 176 |
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"ur16e",
|
| 177 |
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"ur5e",
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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| 196 |
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| 197 |
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{
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| 210 |
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| 211 |
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| 212 |
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},
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| 213 |
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{
|
| 214 |
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| 216 |
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|
| 847 |
+
"object_max_tilt_deg": 12.0,
|
| 848 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 849 |
+
"object_upright_axis_local": null,
|
| 850 |
+
"required_placed_release_frames": 2,
|
| 851 |
+
"placed_release_frames": 220,
|
| 852 |
+
"max_placed_release_frames": 220
|
| 853 |
+
},
|
| 854 |
+
"failed_keys": [],
|
| 855 |
+
"failure_code": null,
|
| 856 |
+
"failure_messages": {},
|
| 857 |
+
"safety": {
|
| 858 |
+
"policy": {
|
| 859 |
+
"skill": "place",
|
| 860 |
+
"target_object": "beaker_a",
|
| 861 |
+
"held_object": "beaker_a",
|
| 862 |
+
"allowed_objects": [
|
| 863 |
+
"beaker_a"
|
| 864 |
+
],
|
| 865 |
+
"allowed_object_paths": [
|
| 866 |
+
"/World/beaker_2"
|
| 867 |
+
],
|
| 868 |
+
"allowed_prim_substrings": [],
|
| 869 |
+
"robot_prim_substrings": [
|
| 870 |
+
"Robotiq2F85",
|
| 871 |
+
"Robotiq_2F_85",
|
| 872 |
+
"contact_sensor",
|
| 873 |
+
"dummy_base_prismatic_x_joint",
|
| 874 |
+
"dummy_base_prismatic_y_joint",
|
| 875 |
+
"dummy_base_revolute_z_joint",
|
| 876 |
+
"elbow_joint",
|
| 877 |
+
"festo",
|
| 878 |
+
"finger",
|
| 879 |
+
"fr3",
|
| 880 |
+
"fr3_duo_mobile",
|
| 881 |
+
"fr3_joint1",
|
| 882 |
+
"fr3_joint2",
|
| 883 |
+
"fr3_joint3",
|
| 884 |
+
"fr3_joint4",
|
| 885 |
+
"fr3_joint5",
|
| 886 |
+
"fr3_joint6",
|
| 887 |
+
"fr3_joint7",
|
| 888 |
+
"fr3_leftfinger",
|
| 889 |
+
"fr3_rightfinger",
|
| 890 |
+
"franka",
|
| 891 |
+
"geometry",
|
| 892 |
+
"gripper",
|
| 893 |
+
"gripper_center",
|
| 894 |
+
"joint1",
|
| 895 |
+
"joint2",
|
| 896 |
+
"joint3",
|
| 897 |
+
"joint4",
|
| 898 |
+
"joint5",
|
| 899 |
+
"joint6",
|
| 900 |
+
"joint7",
|
| 901 |
+
"left_inner_finger",
|
| 902 |
+
"lift2",
|
| 903 |
+
"mobile_rotate",
|
| 904 |
+
"mobile_translate_x",
|
| 905 |
+
"mobile_translate_y",
|
| 906 |
+
"panda_joint1",
|
| 907 |
+
"panda_joint2",
|
| 908 |
+
"panda_joint3",
|
| 909 |
+
"panda_joint4",
|
| 910 |
+
"panda_joint5",
|
| 911 |
+
"panda_joint6",
|
| 912 |
+
"panda_joint7",
|
| 913 |
+
"panda_leftfinger",
|
| 914 |
+
"panda_leftfingertip",
|
| 915 |
+
"panda_rightfinger",
|
| 916 |
+
"panda_rightfingertip",
|
| 917 |
+
"ridgebase",
|
| 918 |
+
"ridgebase_festo",
|
| 919 |
+
"ridgebase_fr3",
|
| 920 |
+
"ridgebase_rizon4",
|
| 921 |
+
"ridgebase_ur16e",
|
| 922 |
+
"ridgebase_ur5e",
|
| 923 |
+
"right_inner_finger",
|
| 924 |
+
"rizon4",
|
| 925 |
+
"robot",
|
| 926 |
+
"robotiq_2f85",
|
| 927 |
+
"shoulder_lift_joint",
|
| 928 |
+
"shoulder_pan_joint",
|
| 929 |
+
"split_aloha",
|
| 930 |
+
"tool_center",
|
| 931 |
+
"ur16e",
|
| 932 |
+
"ur5e",
|
| 933 |
+
"visuals",
|
| 934 |
+
"wrist",
|
| 935 |
+
"wrist_1_joint",
|
| 936 |
+
"wrist_2_joint",
|
| 937 |
+
"wrist_3_joint"
|
| 938 |
+
],
|
| 939 |
+
"ignored_prim_substrings": [
|
| 940 |
+
"base_link",
|
| 941 |
+
"caster",
|
| 942 |
+
"defaultgroundplane",
|
| 943 |
+
"desk",
|
| 944 |
+
"floor",
|
| 945 |
+
"ground",
|
| 946 |
+
"groundplane",
|
| 947 |
+
"link0",
|
| 948 |
+
"table",
|
| 949 |
+
"wheel",
|
| 950 |
+
"workbench"
|
| 951 |
+
],
|
| 952 |
+
"enabled": true
|
| 953 |
+
},
|
| 954 |
+
"status": "active",
|
| 955 |
+
"passed": true,
|
| 956 |
+
"source_missing": false,
|
| 957 |
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"forbidden": [],
|
| 958 |
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"disturbances": [],
|
| 959 |
+
"last_frame": {
|
| 960 |
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"passed": true,
|
| 961 |
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"source_missing": false,
|
| 962 |
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"forbidden": [],
|
| 963 |
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"allowed": [],
|
| 964 |
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"ignored": [],
|
| 965 |
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"failed_keys": []
|
| 966 |
+
},
|
| 967 |
+
"failed_keys": []
|
| 968 |
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}
|
| 969 |
+
},
|
| 970 |
+
"gripper": null,
|
| 971 |
+
"post_done_wait_frames": 0,
|
| 972 |
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"post_done_wait_exhausted": false
|
| 973 |
+
},
|
| 974 |
+
"physical_semantics": {
|
| 975 |
+
"skill": "place",
|
| 976 |
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"target": "beaker_a",
|
| 977 |
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"attach_used": false,
|
| 978 |
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"attach_object": null,
|
| 979 |
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"attach_object_path": null,
|
| 980 |
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"attach_allowed": false,
|
| 981 |
+
"ordinary_object_physical_only": true
|
| 982 |
+
}
|
| 983 |
+
}
|
| 984 |
+
],
|
| 985 |
+
"physical_semantics": {
|
| 986 |
+
"attach_records": [],
|
| 987 |
+
"ordinary_attach_violations": [],
|
| 988 |
+
"forbidden_shortcuts_absent": true
|
| 989 |
+
},
|
| 990 |
+
"h5_episode_index": 87,
|
| 991 |
+
"reproducibility": {
|
| 992 |
+
"enabled": true,
|
| 993 |
+
"action_seed": 2891541627295583141,
|
| 994 |
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"physical_seed": 1061768133550289122,
|
| 995 |
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"layout_id": "layout_00016",
|
| 996 |
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"step_seeds": [
|
| 997 |
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|
| 998 |
+
5066845160497422571,
|
| 999 |
+
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|
| 1000 |
+
],
|
| 1001 |
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"workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65",
|
| 1002 |
+
"strict_task_state": false,
|
| 1003 |
+
"allow_physical_randomization": true,
|
| 1004 |
+
"seed_source": "workflow.reproducibility",
|
| 1005 |
+
"task_island_state_digest": "5b2d2046dccb5718f03ca3dac4522ba26c88742f36e03c93428fe9cda9275900",
|
| 1006 |
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"visual_seed": 874379535803903089,
|
| 1007 |
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"episode_index": 87,
|
| 1008 |
+
"physical_randomization_enabled": true,
|
| 1009 |
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"motion_controller_type": "ik_servo",
|
| 1010 |
+
"runtime_step_seeds": [
|
| 1011 |
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|
| 1012 |
+
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|
| 1013 |
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|
| 1014 |
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],
|
| 1015 |
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"runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3"
|
| 1016 |
+
}
|
| 1017 |
+
}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_89_success.json
ADDED
|
@@ -0,0 +1,1017 @@
|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 89,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2939768266758692,
|
| 26 |
+
0.2061224532913918,
|
| 27 |
+
1.0041671794379177
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0041671794379177,
|
| 30 |
+
"required_z": 0.8611065080147662,
|
| 31 |
+
"initial_z": 0.7611065080147662,
|
| 32 |
+
"lift_margin": 0.1430606714231515,
|
| 33 |
+
"gripper_z": 1.0058402258762134,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.28882724835985707,
|
| 38 |
+
0.2011336027814402,
|
| 39 |
+
1.0058402258762134
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005149578316012149,
|
| 43 |
+
0.004988850509951598,
|
| 44 |
+
-0.0016730464382956889
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.007169852595652636,
|
| 47 |
+
"object_to_gripper_z": -0.0016730464382956889,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2939768266758692,
|
| 51 |
+
0.1817885466261126,
|
| 52 |
+
1.0041671794379177
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2817463556244866,
|
| 56 |
+
0.2061224532913918,
|
| 57 |
+
1.0041671794379177
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2878615911501779,
|
| 61 |
+
0.19395549995875222,
|
| 62 |
+
1.0041671794379177
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0061152355256913205,
|
| 66 |
+
0.01216695333263959,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027234599973805906,
|
| 70 |
+
"fingertip_max_gap": 0.09118582463880395,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01361729998690294,
|
| 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": 1.0041671794379177,
|
| 78 |
+
"object_top_z": 1.054227249652874,
|
| 79 |
+
"finger_top_clearance": 0.05006007021495629,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015018021064486868,
|
| 81 |
+
"object_projection_between_fingers": 0.7983285751368534,
|
| 82 |
+
"object_to_finger_line_xy": 0.01092783229138631,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04809291231940198,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.9175510080074305,
|
| 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": 174,
|
| 96 |
+
"max_stable_success_frames": 174,
|
| 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",
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| 169 |
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| 175 |
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|
| 878 |
+
"finger",
|
| 879 |
+
"fr3",
|
| 880 |
+
"fr3_duo_mobile",
|
| 881 |
+
"fr3_joint1",
|
| 882 |
+
"fr3_joint2",
|
| 883 |
+
"fr3_joint3",
|
| 884 |
+
"fr3_joint4",
|
| 885 |
+
"fr3_joint5",
|
| 886 |
+
"fr3_joint6",
|
| 887 |
+
"fr3_joint7",
|
| 888 |
+
"fr3_leftfinger",
|
| 889 |
+
"fr3_rightfinger",
|
| 890 |
+
"franka",
|
| 891 |
+
"geometry",
|
| 892 |
+
"gripper",
|
| 893 |
+
"gripper_center",
|
| 894 |
+
"joint1",
|
| 895 |
+
"joint2",
|
| 896 |
+
"joint3",
|
| 897 |
+
"joint4",
|
| 898 |
+
"joint5",
|
| 899 |
+
"joint6",
|
| 900 |
+
"joint7",
|
| 901 |
+
"left_inner_finger",
|
| 902 |
+
"lift2",
|
| 903 |
+
"mobile_rotate",
|
| 904 |
+
"mobile_translate_x",
|
| 905 |
+
"mobile_translate_y",
|
| 906 |
+
"panda_joint1",
|
| 907 |
+
"panda_joint2",
|
| 908 |
+
"panda_joint3",
|
| 909 |
+
"panda_joint4",
|
| 910 |
+
"panda_joint5",
|
| 911 |
+
"panda_joint6",
|
| 912 |
+
"panda_joint7",
|
| 913 |
+
"panda_leftfinger",
|
| 914 |
+
"panda_leftfingertip",
|
| 915 |
+
"panda_rightfinger",
|
| 916 |
+
"panda_rightfingertip",
|
| 917 |
+
"ridgebase",
|
| 918 |
+
"ridgebase_festo",
|
| 919 |
+
"ridgebase_fr3",
|
| 920 |
+
"ridgebase_rizon4",
|
| 921 |
+
"ridgebase_ur16e",
|
| 922 |
+
"ridgebase_ur5e",
|
| 923 |
+
"right_inner_finger",
|
| 924 |
+
"rizon4",
|
| 925 |
+
"robot",
|
| 926 |
+
"robotiq_2f85",
|
| 927 |
+
"shoulder_lift_joint",
|
| 928 |
+
"shoulder_pan_joint",
|
| 929 |
+
"split_aloha",
|
| 930 |
+
"tool_center",
|
| 931 |
+
"ur16e",
|
| 932 |
+
"ur5e",
|
| 933 |
+
"visuals",
|
| 934 |
+
"wrist",
|
| 935 |
+
"wrist_1_joint",
|
| 936 |
+
"wrist_2_joint",
|
| 937 |
+
"wrist_3_joint"
|
| 938 |
+
],
|
| 939 |
+
"ignored_prim_substrings": [
|
| 940 |
+
"base_link",
|
| 941 |
+
"caster",
|
| 942 |
+
"defaultgroundplane",
|
| 943 |
+
"desk",
|
| 944 |
+
"floor",
|
| 945 |
+
"ground",
|
| 946 |
+
"groundplane",
|
| 947 |
+
"link0",
|
| 948 |
+
"table",
|
| 949 |
+
"wheel",
|
| 950 |
+
"workbench"
|
| 951 |
+
],
|
| 952 |
+
"enabled": true
|
| 953 |
+
},
|
| 954 |
+
"status": "active",
|
| 955 |
+
"passed": true,
|
| 956 |
+
"source_missing": false,
|
| 957 |
+
"forbidden": [],
|
| 958 |
+
"disturbances": [],
|
| 959 |
+
"last_frame": {
|
| 960 |
+
"passed": true,
|
| 961 |
+
"source_missing": false,
|
| 962 |
+
"forbidden": [],
|
| 963 |
+
"allowed": [],
|
| 964 |
+
"ignored": [],
|
| 965 |
+
"failed_keys": []
|
| 966 |
+
},
|
| 967 |
+
"failed_keys": []
|
| 968 |
+
}
|
| 969 |
+
},
|
| 970 |
+
"gripper": null,
|
| 971 |
+
"post_done_wait_frames": 0,
|
| 972 |
+
"post_done_wait_exhausted": false
|
| 973 |
+
},
|
| 974 |
+
"physical_semantics": {
|
| 975 |
+
"skill": "place",
|
| 976 |
+
"target": "beaker_a",
|
| 977 |
+
"attach_used": false,
|
| 978 |
+
"attach_object": null,
|
| 979 |
+
"attach_object_path": null,
|
| 980 |
+
"attach_allowed": false,
|
| 981 |
+
"ordinary_object_physical_only": true
|
| 982 |
+
}
|
| 983 |
+
}
|
| 984 |
+
],
|
| 985 |
+
"physical_semantics": {
|
| 986 |
+
"attach_records": [],
|
| 987 |
+
"ordinary_attach_violations": [],
|
| 988 |
+
"forbidden_shortcuts_absent": true
|
| 989 |
+
},
|
| 990 |
+
"h5_episode_index": 89,
|
| 991 |
+
"reproducibility": {
|
| 992 |
+
"enabled": true,
|
| 993 |
+
"action_seed": 2891541627295583141,
|
| 994 |
+
"physical_seed": 1061768133550289122,
|
| 995 |
+
"layout_id": "layout_00016",
|
| 996 |
+
"step_seeds": [
|
| 997 |
+
1164515841808467485,
|
| 998 |
+
5066845160497422571,
|
| 999 |
+
1159376154734467498
|
| 1000 |
+
],
|
| 1001 |
+
"workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65",
|
| 1002 |
+
"strict_task_state": false,
|
| 1003 |
+
"allow_physical_randomization": true,
|
| 1004 |
+
"seed_source": "workflow.reproducibility",
|
| 1005 |
+
"task_island_state_digest": "4cd658bd161db33022698e8632573b7ca1bdc0092b186d702703ea50a25c45d2",
|
| 1006 |
+
"visual_seed": 7157686799830510992,
|
| 1007 |
+
"episode_index": 89,
|
| 1008 |
+
"physical_randomization_enabled": true,
|
| 1009 |
+
"motion_controller_type": "ik_servo",
|
| 1010 |
+
"runtime_step_seeds": [
|
| 1011 |
+
1164515841808467485,
|
| 1012 |
+
5066845160497422571,
|
| 1013 |
+
1159376154734467498
|
| 1014 |
+
],
|
| 1015 |
+
"runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3"
|
| 1016 |
+
}
|
| 1017 |
+
}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_8_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 8,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"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 |
+
0.30123337446401394,
|
| 26 |
+
0.20145512830558196,
|
| 27 |
+
1.0011166363526112
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0011166363526112,
|
| 30 |
+
"required_z": 0.8611064484101212,
|
| 31 |
+
"initial_z": 0.7611064484101212,
|
| 32 |
+
"lift_margin": 0.14001018794248998,
|
| 33 |
+
"gripper_z": 1.0024955281426107,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.29608636039814074,
|
| 38 |
+
0.196553285393922,
|
| 39 |
+
1.0024955281426107
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005147014065873201,
|
| 43 |
+
0.004901842911659959,
|
| 44 |
+
-0.0013788917899995035
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.007107729435261838,
|
| 47 |
+
"object_to_gripper_z": -0.0013788917899995035,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.30123337446401394,
|
| 51 |
+
0.17698879753462865,
|
| 52 |
+
1.0011166363526112
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.28929531298412625,
|
| 56 |
+
0.20145512830558196,
|
| 57 |
+
1.0011166363526112
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.29526434372407007,
|
| 61 |
+
0.1892219629201053,
|
| 62 |
+
1.0011166363526112
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.00596903073994387,
|
| 66 |
+
0.012233165385476669,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027223494509178554,
|
| 70 |
+
"fingertip_max_gap": 0.0914401115636658,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013611747254589301,
|
| 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": 1.0011166363526112,
|
| 78 |
+
"object_top_z": 1.0513451316588034,
|
| 79 |
+
"finger_top_clearance": 0.05022849530619222,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015068548591857633,
|
| 81 |
+
"object_projection_between_fingers": 0.8076997370600981,
|
| 82 |
+
"object_to_finger_line_xy": 0.010728988551871321,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.0482200557818329,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.8925872352888734,
|
| 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": 171,
|
| 96 |
+
"max_stable_success_frames": 171,
|
| 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 |
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"panda_leftfinger",
|
| 914 |
+
"panda_leftfingertip",
|
| 915 |
+
"panda_rightfinger",
|
| 916 |
+
"panda_rightfingertip",
|
| 917 |
+
"ridgebase",
|
| 918 |
+
"ridgebase_festo",
|
| 919 |
+
"ridgebase_fr3",
|
| 920 |
+
"ridgebase_rizon4",
|
| 921 |
+
"ridgebase_ur16e",
|
| 922 |
+
"ridgebase_ur5e",
|
| 923 |
+
"right_inner_finger",
|
| 924 |
+
"rizon4",
|
| 925 |
+
"robot",
|
| 926 |
+
"robotiq_2f85",
|
| 927 |
+
"shoulder_lift_joint",
|
| 928 |
+
"shoulder_pan_joint",
|
| 929 |
+
"split_aloha",
|
| 930 |
+
"tool_center",
|
| 931 |
+
"ur16e",
|
| 932 |
+
"ur5e",
|
| 933 |
+
"visuals",
|
| 934 |
+
"wrist",
|
| 935 |
+
"wrist_1_joint",
|
| 936 |
+
"wrist_2_joint",
|
| 937 |
+
"wrist_3_joint"
|
| 938 |
+
],
|
| 939 |
+
"ignored_prim_substrings": [
|
| 940 |
+
"base_link",
|
| 941 |
+
"caster",
|
| 942 |
+
"defaultgroundplane",
|
| 943 |
+
"desk",
|
| 944 |
+
"floor",
|
| 945 |
+
"ground",
|
| 946 |
+
"groundplane",
|
| 947 |
+
"link0",
|
| 948 |
+
"table",
|
| 949 |
+
"wheel",
|
| 950 |
+
"workbench"
|
| 951 |
+
],
|
| 952 |
+
"enabled": true
|
| 953 |
+
},
|
| 954 |
+
"status": "active",
|
| 955 |
+
"passed": true,
|
| 956 |
+
"source_missing": false,
|
| 957 |
+
"forbidden": [],
|
| 958 |
+
"disturbances": [],
|
| 959 |
+
"last_frame": {
|
| 960 |
+
"passed": true,
|
| 961 |
+
"source_missing": false,
|
| 962 |
+
"forbidden": [],
|
| 963 |
+
"allowed": [],
|
| 964 |
+
"ignored": [],
|
| 965 |
+
"failed_keys": []
|
| 966 |
+
},
|
| 967 |
+
"failed_keys": []
|
| 968 |
+
}
|
| 969 |
+
},
|
| 970 |
+
"gripper": null,
|
| 971 |
+
"post_done_wait_frames": 0,
|
| 972 |
+
"post_done_wait_exhausted": false
|
| 973 |
+
},
|
| 974 |
+
"physical_semantics": {
|
| 975 |
+
"skill": "place",
|
| 976 |
+
"target": "beaker_a",
|
| 977 |
+
"attach_used": false,
|
| 978 |
+
"attach_object": null,
|
| 979 |
+
"attach_object_path": null,
|
| 980 |
+
"attach_allowed": false,
|
| 981 |
+
"ordinary_object_physical_only": true
|
| 982 |
+
}
|
| 983 |
+
}
|
| 984 |
+
],
|
| 985 |
+
"physical_semantics": {
|
| 986 |
+
"attach_records": [],
|
| 987 |
+
"ordinary_attach_violations": [],
|
| 988 |
+
"forbidden_shortcuts_absent": true
|
| 989 |
+
},
|
| 990 |
+
"h5_episode_index": 8,
|
| 991 |
+
"reproducibility": {
|
| 992 |
+
"enabled": true,
|
| 993 |
+
"action_seed": 2891541627295583141,
|
| 994 |
+
"physical_seed": 1061768133550289122,
|
| 995 |
+
"layout_id": "layout_00016",
|
| 996 |
+
"step_seeds": [
|
| 997 |
+
1164515841808467485,
|
| 998 |
+
5066845160497422571,
|
| 999 |
+
1159376154734467498
|
| 1000 |
+
],
|
| 1001 |
+
"workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65",
|
| 1002 |
+
"strict_task_state": false,
|
| 1003 |
+
"allow_physical_randomization": true,
|
| 1004 |
+
"seed_source": "workflow.reproducibility",
|
| 1005 |
+
"task_island_state_digest": "13670ed46fd7f1d273e605f004d69f099fcd56e1968c4c4a51d3f0f1568b194c",
|
| 1006 |
+
"visual_seed": 1728132295648369332,
|
| 1007 |
+
"episode_index": 8,
|
| 1008 |
+
"physical_randomization_enabled": true,
|
| 1009 |
+
"motion_controller_type": "ik_servo",
|
| 1010 |
+
"runtime_step_seeds": [
|
| 1011 |
+
1164515841808467485,
|
| 1012 |
+
5066845160497422571,
|
| 1013 |
+
1159376154734467498
|
| 1014 |
+
],
|
| 1015 |
+
"runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3"
|
| 1016 |
+
}
|
| 1017 |
+
}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_90_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 90,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
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"step_accuracy": "3/3",
|
| 7 |
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"step_details": [
|
| 8 |
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{
|
| 9 |
+
"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 |
+
0.29648280804686067,
|
| 26 |
+
0.20290714195708642,
|
| 27 |
+
1.003196102057251
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.003196102057251,
|
| 30 |
+
"required_z": 0.8611065080147662,
|
| 31 |
+
"initial_z": 0.7611065080147662,
|
| 32 |
+
"lift_margin": 0.1420895940424849,
|
| 33 |
+
"gripper_z": 1.004335134201968,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.29125444342921036,
|
| 38 |
+
0.19803224879297554,
|
| 39 |
+
1.004335134201968
|
| 40 |
+
],
|
| 41 |
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"object_minus_gripper": [
|
| 42 |
+
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|
| 43 |
+
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|
| 44 |
+
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|
| 45 |
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],
|
| 46 |
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"object_to_gripper_xy": 0.0071484529750563955,
|
| 47 |
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"object_to_gripper_z": -0.0011390321447168894,
|
| 48 |
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"fingertip_source": "active_contact_pad_positions",
|
| 49 |
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"finger_a": [
|
| 50 |
+
0.29648280804686067,
|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
+
],
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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],
|
| 64 |
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|
| 65 |
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|
| 66 |
+
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|
| 67 |
+
0.0
|
| 68 |
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],
|
| 69 |
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"finger_gap": 0.027305729778561355,
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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"object_position_origin": "center",
|
| 77 |
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"object_center_z_for_grasp": 1.003196102057251,
|
| 78 |
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|
| 79 |
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"finger_top_clearance": 0.04992921603512546,
|
| 80 |
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|
| 81 |
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"object_projection_between_fingers": 0.815240549208304,
|
| 82 |
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"object_to_finger_line_xy": 0.010597416560827898,
|
| 83 |
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|
| 84 |
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|
| 85 |
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"fingertip_line_xy_max_dist": 0.04805353827711796,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.9395696056644144,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
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"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
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"stable_success_frames": 173,
|
| 96 |
+
"max_stable_success_frames": 173,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
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"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
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"last_frame": {
|
| 205 |
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"passed": true,
|
| 206 |
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"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_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/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
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},
|
| 221 |
+
"failed_keys": []
|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
+
"gripper": null,
|
| 225 |
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"post_done_wait_frames": 0,
|
| 226 |
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"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
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"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
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| 948 |
+
"table",
|
| 949 |
+
"wheel",
|
| 950 |
+
"workbench"
|
| 951 |
+
],
|
| 952 |
+
"enabled": true
|
| 953 |
+
},
|
| 954 |
+
"status": "active",
|
| 955 |
+
"passed": true,
|
| 956 |
+
"source_missing": false,
|
| 957 |
+
"forbidden": [],
|
| 958 |
+
"disturbances": [],
|
| 959 |
+
"last_frame": {
|
| 960 |
+
"passed": true,
|
| 961 |
+
"source_missing": false,
|
| 962 |
+
"forbidden": [],
|
| 963 |
+
"allowed": [],
|
| 964 |
+
"ignored": [],
|
| 965 |
+
"failed_keys": []
|
| 966 |
+
},
|
| 967 |
+
"failed_keys": []
|
| 968 |
+
}
|
| 969 |
+
},
|
| 970 |
+
"gripper": null,
|
| 971 |
+
"post_done_wait_frames": 0,
|
| 972 |
+
"post_done_wait_exhausted": false
|
| 973 |
+
},
|
| 974 |
+
"physical_semantics": {
|
| 975 |
+
"skill": "place",
|
| 976 |
+
"target": "beaker_a",
|
| 977 |
+
"attach_used": false,
|
| 978 |
+
"attach_object": null,
|
| 979 |
+
"attach_object_path": null,
|
| 980 |
+
"attach_allowed": false,
|
| 981 |
+
"ordinary_object_physical_only": true
|
| 982 |
+
}
|
| 983 |
+
}
|
| 984 |
+
],
|
| 985 |
+
"physical_semantics": {
|
| 986 |
+
"attach_records": [],
|
| 987 |
+
"ordinary_attach_violations": [],
|
| 988 |
+
"forbidden_shortcuts_absent": true
|
| 989 |
+
},
|
| 990 |
+
"h5_episode_index": 90,
|
| 991 |
+
"reproducibility": {
|
| 992 |
+
"enabled": true,
|
| 993 |
+
"action_seed": 2891541627295583141,
|
| 994 |
+
"physical_seed": 1061768133550289122,
|
| 995 |
+
"layout_id": "layout_00016",
|
| 996 |
+
"step_seeds": [
|
| 997 |
+
1164515841808467485,
|
| 998 |
+
5066845160497422571,
|
| 999 |
+
1159376154734467498
|
| 1000 |
+
],
|
| 1001 |
+
"workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65",
|
| 1002 |
+
"strict_task_state": false,
|
| 1003 |
+
"allow_physical_randomization": true,
|
| 1004 |
+
"seed_source": "workflow.reproducibility",
|
| 1005 |
+
"task_island_state_digest": "839232705de110da9d54f8bf7992d1e6805c57bee32deeae7f3f42ae913ca436",
|
| 1006 |
+
"visual_seed": 2207258639979828307,
|
| 1007 |
+
"episode_index": 90,
|
| 1008 |
+
"physical_randomization_enabled": true,
|
| 1009 |
+
"motion_controller_type": "ik_servo",
|
| 1010 |
+
"runtime_step_seeds": [
|
| 1011 |
+
1164515841808467485,
|
| 1012 |
+
5066845160497422571,
|
| 1013 |
+
1159376154734467498
|
| 1014 |
+
],
|
| 1015 |
+
"runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3"
|
| 1016 |
+
}
|
| 1017 |
+
}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_91_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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| 1 |
+
{
|
| 2 |
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| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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{
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| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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"target": "beaker_a",
|
| 20 |
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"passed": true,
|
| 21 |
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| 22 |
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|
| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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| 33 |
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| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 62 |
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| 63 |
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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| 72 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 83 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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|
| 91 |
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|
| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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|
| 101 |
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| 102 |
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| 103 |
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| 104 |
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|
| 105 |
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|
| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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|
| 112 |
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],
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| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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"festo",
|
| 123 |
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"finger",
|
| 124 |
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"fr3",
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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"fr3_joint3",
|
| 129 |
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"fr3_joint4",
|
| 130 |
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"fr3_joint5",
|
| 131 |
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"fr3_joint6",
|
| 132 |
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|
| 133 |
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|
| 134 |
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"fr3_rightfinger",
|
| 135 |
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|
| 136 |
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"geometry",
|
| 137 |
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|
| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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"left_inner_finger",
|
| 147 |
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"lift2",
|
| 148 |
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"mobile_rotate",
|
| 149 |
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"mobile_translate_x",
|
| 150 |
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"mobile_translate_y",
|
| 151 |
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"panda_joint1",
|
| 152 |
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"panda_joint2",
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| 153 |
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"panda_joint3",
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| 154 |
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"panda_joint4",
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| 155 |
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"panda_joint5",
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| 156 |
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| 157 |
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"panda_joint7",
|
| 158 |
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"panda_leftfinger",
|
| 159 |
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"panda_leftfingertip",
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| 160 |
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"panda_rightfinger",
|
| 161 |
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| 162 |
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"ridgebase",
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| 163 |
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"ridgebase_festo",
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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|
| 169 |
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"rizon4",
|
| 170 |
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"robot",
|
| 171 |
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"robotiq_2f85",
|
| 172 |
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|
| 173 |
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|
| 174 |
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"split_aloha",
|
| 175 |
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"tool_center",
|
| 176 |
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"ur16e",
|
| 177 |
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"ur5e",
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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],
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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],
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| 197 |
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| 198 |
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},
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| 199 |
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| 200 |
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| 201 |
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| 202 |
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| 203 |
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| 206 |
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| 208 |
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| 209 |
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{
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| 210 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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| 211 |
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| 212 |
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},
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| 213 |
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{
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| 214 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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| 215 |
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| 216 |
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}
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| 217 |
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],
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| 218 |
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| 219 |
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| 220 |
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},
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| 222 |
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}
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| 223 |
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},
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| 224 |
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| 226 |
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| 227 |
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},
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| 228 |
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| 229 |
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| 230 |
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| 231 |
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| 232 |
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| 234 |
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| 236 |
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}
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| 237 |
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},
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| 238 |
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{
|
| 239 |
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|
| 240 |
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| 241 |
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|
| 242 |
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|
| 243 |
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| 244 |
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| 245 |
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| 246 |
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| 247 |
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| 248 |
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|
| 249 |
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|
| 250 |
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"passed": true,
|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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}
|
| 983 |
+
}
|
| 984 |
+
],
|
| 985 |
+
"physical_semantics": {
|
| 986 |
+
"attach_records": [],
|
| 987 |
+
"ordinary_attach_violations": [],
|
| 988 |
+
"forbidden_shortcuts_absent": true
|
| 989 |
+
},
|
| 990 |
+
"h5_episode_index": 91,
|
| 991 |
+
"reproducibility": {
|
| 992 |
+
"enabled": true,
|
| 993 |
+
"action_seed": 2891541627295583141,
|
| 994 |
+
"physical_seed": 1061768133550289122,
|
| 995 |
+
"layout_id": "layout_00016",
|
| 996 |
+
"step_seeds": [
|
| 997 |
+
1164515841808467485,
|
| 998 |
+
5066845160497422571,
|
| 999 |
+
1159376154734467498
|
| 1000 |
+
],
|
| 1001 |
+
"workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65",
|
| 1002 |
+
"strict_task_state": false,
|
| 1003 |
+
"allow_physical_randomization": true,
|
| 1004 |
+
"seed_source": "workflow.reproducibility",
|
| 1005 |
+
"task_island_state_digest": "48b659e9ff4ac194fbf256e83a1d2b1b287372cc95bf6b84498d54cfc0672244",
|
| 1006 |
+
"visual_seed": 2903982183333549825,
|
| 1007 |
+
"episode_index": 91,
|
| 1008 |
+
"physical_randomization_enabled": true,
|
| 1009 |
+
"motion_controller_type": "ik_servo",
|
| 1010 |
+
"runtime_step_seeds": [
|
| 1011 |
+
1164515841808467485,
|
| 1012 |
+
5066845160497422571,
|
| 1013 |
+
1159376154734467498
|
| 1014 |
+
],
|
| 1015 |
+
"runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3"
|
| 1016 |
+
}
|
| 1017 |
+
}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_92_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 22 |
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|
| 1010 |
+
"runtime_step_seeds": [
|
| 1011 |
+
1164515841808467485,
|
| 1012 |
+
5066845160497422571,
|
| 1013 |
+
1159376154734467498
|
| 1014 |
+
],
|
| 1015 |
+
"runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3"
|
| 1016 |
+
}
|
| 1017 |
+
}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_93_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_94_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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| 348 |
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|
| 349 |
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|
| 350 |
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"source_not_tilted"
|
| 351 |
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],
|
| 352 |
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|
| 353 |
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|
| 354 |
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|
| 355 |
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|
| 356 |
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|
| 357 |
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|
| 358 |
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|
| 359 |
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|
| 360 |
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|
| 361 |
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| 362 |
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| 363 |
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| 364 |
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| 365 |
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],
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| 366 |
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| 367 |
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| 368 |
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| 369 |
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| 370 |
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],
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| 371 |
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| 372 |
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| 373 |
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0.0,
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| 374 |
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| 375 |
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| 376 |
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|
| 377 |
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| 378 |
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| 379 |
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| 380 |
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| 381 |
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| 382 |
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| 383 |
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| 384 |
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| 385 |
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| 386 |
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| 394 |
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| 398 |
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| 400 |
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| 402 |
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],
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| 403 |
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| 404 |
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| 405 |
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| 406 |
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| 407 |
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|
| 408 |
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|
| 409 |
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| 410 |
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| 411 |
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| 412 |
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| 413 |
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| 414 |
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| 415 |
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| 416 |
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],
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| 417 |
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| 418 |
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| 419 |
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| 420 |
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| 421 |
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| 422 |
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| 423 |
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| 424 |
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| 425 |
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| 426 |
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| 427 |
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],
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| 428 |
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| 430 |
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| 437 |
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| 438 |
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| 439 |
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| 440 |
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| 441 |
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| 443 |
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| 444 |
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| 445 |
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| 446 |
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| 447 |
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| 448 |
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| 449 |
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},
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| 450 |
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| 451 |
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| 452 |
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| 453 |
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| 454 |
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| 455 |
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| 456 |
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| 458 |
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| 459 |
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| 462 |
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| 463 |
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| 464 |
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| 466 |
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| 467 |
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| 468 |
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0.0
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| 469 |
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],
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| 470 |
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| 471 |
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| 472 |
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| 473 |
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| 474 |
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| 475 |
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| 476 |
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| 479 |
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| 480 |
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| 481 |
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| 483 |
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| 484 |
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| 494 |
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| 496 |
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],
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| 497 |
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| 498 |
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| 499 |
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| 500 |
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| 501 |
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| 502 |
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| 503 |
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| 504 |
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| 505 |
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| 506 |
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| 508 |
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| 509 |
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0.0
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| 510 |
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| 513 |
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| 517 |
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| 518 |
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| 521 |
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| 522 |
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| 531 |
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},
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| 533 |
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],
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| 557 |
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| 558 |
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0.0,
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0.0,
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1.0
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],
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0.3791950432038853,
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| 598 |
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0.007228811575728204,
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| 603 |
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| 608 |
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| 609 |
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| 610 |
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| 611 |
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0.3791950432038853,
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| 633 |
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| 635 |
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| 639 |
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| 640 |
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0.007228811575728204,
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0.046147439734002156
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|
| 646 |
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| 647 |
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| 648 |
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|
| 650 |
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|
| 651 |
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"liquid_source": "beaker_a",
|
| 652 |
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"liquid_target": "beaker_c"
|
| 653 |
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},
|
| 654 |
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"failed_keys": [],
|
| 655 |
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"failure_code": null,
|
| 656 |
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"failure_messages": {},
|
| 657 |
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"safety": {
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| 658 |
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"policy": {
|
| 659 |
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"skill": "pour",
|
| 660 |
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"target_object": "beaker_c",
|
| 661 |
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"held_object": "beaker_a",
|
| 662 |
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"allowed_objects": [
|
| 663 |
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"beaker_a",
|
| 664 |
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"beaker_c"
|
| 665 |
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],
|
| 666 |
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"allowed_object_paths": [
|
| 667 |
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"/World/beaker_2",
|
| 668 |
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"/World/beaker_3"
|
| 669 |
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],
|
| 670 |
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|
| 671 |
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|
| 672 |
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"Robotiq2F85",
|
| 673 |
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"Robotiq_2F_85",
|
| 674 |
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"contact_sensor",
|
| 675 |
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"dummy_base_prismatic_x_joint",
|
| 676 |
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"dummy_base_prismatic_y_joint",
|
| 677 |
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"dummy_base_revolute_z_joint",
|
| 678 |
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"elbow_joint",
|
| 679 |
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"festo",
|
| 680 |
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"finger",
|
| 681 |
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"fr3",
|
| 682 |
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"fr3_duo_mobile",
|
| 683 |
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"fr3_joint1",
|
| 684 |
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"fr3_joint2",
|
| 685 |
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"fr3_joint3",
|
| 686 |
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"fr3_joint4",
|
| 687 |
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"fr3_joint5",
|
| 688 |
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"fr3_joint6",
|
| 689 |
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"fr3_joint7",
|
| 690 |
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"fr3_leftfinger",
|
| 691 |
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"fr3_rightfinger",
|
| 692 |
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"franka",
|
| 693 |
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"geometry",
|
| 694 |
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|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_95_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 95,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
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0.0017
|
| 382 |
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],
|
| 383 |
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|
| 384 |
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0.3805,
|
| 385 |
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|
| 386 |
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1.0371
|
| 387 |
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],
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| 388 |
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|
| 389 |
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|
| 390 |
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| 391 |
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| 392 |
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| 393 |
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0.0904
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| 394 |
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],
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| 398 |
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],
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| 400 |
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| 401 |
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| 402 |
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],
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| 403 |
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|
| 404 |
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|
| 405 |
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|
| 406 |
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|
| 407 |
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|
| 408 |
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|
| 409 |
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"source_name": "beaker",
|
| 410 |
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|
| 411 |
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|
| 412 |
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|
| 413 |
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|
| 414 |
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0.0,
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| 415 |
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0.0
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| 416 |
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],
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| 417 |
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|
| 418 |
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|
| 419 |
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|
| 420 |
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|
| 421 |
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| 422 |
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0.4
|
| 423 |
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],
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| 424 |
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| 425 |
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0.2,
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| 426 |
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0.2
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| 427 |
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],
|
| 428 |
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|
| 429 |
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|
| 430 |
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| 431 |
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| 432 |
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| 434 |
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| 435 |
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|
| 437 |
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},
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| 438 |
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|
| 439 |
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| 440 |
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|
| 441 |
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| 442 |
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| 443 |
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| 444 |
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| 445 |
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| 446 |
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| 447 |
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|
| 448 |
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| 449 |
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},
|
| 450 |
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|
| 451 |
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"pour_controller_skill": "pour",
|
| 452 |
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|
| 453 |
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|
| 454 |
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|
| 455 |
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|
| 456 |
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0.3792,
|
| 457 |
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|
| 458 |
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0.7701
|
| 459 |
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],
|
| 460 |
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| 461 |
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0.3792,
|
| 462 |
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| 463 |
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0.7701
|
| 464 |
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],
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| 465 |
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|
| 466 |
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| 467 |
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-0.0,
|
| 468 |
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0.0
|
| 469 |
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],
|
| 470 |
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|
| 471 |
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|
| 472 |
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| 473 |
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|
| 474 |
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| 475 |
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0.0017
|
| 476 |
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],
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| 477 |
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| 478 |
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0.3805,
|
| 479 |
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|
| 480 |
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1.0371
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| 481 |
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],
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| 482 |
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|
| 483 |
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| 484 |
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| 485 |
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| 486 |
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0.0603,
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| 487 |
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0.0904
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| 488 |
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],
|
| 489 |
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| 490 |
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| 491 |
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0.4
|
| 492 |
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],
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| 493 |
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| 494 |
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0.2,
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| 495 |
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0.2
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| 496 |
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],
|
| 497 |
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|
| 498 |
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|
| 499 |
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|
| 500 |
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|
| 501 |
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|
| 502 |
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|
| 503 |
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"source_name": "beaker",
|
| 504 |
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|
| 505 |
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|
| 506 |
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| 507 |
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| 508 |
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0.0,
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| 509 |
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0.0
|
| 510 |
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],
|
| 511 |
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|
| 512 |
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|
| 513 |
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| 514 |
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| 515 |
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0.3,
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| 516 |
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0.4
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| 517 |
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],
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| 518 |
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| 519 |
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0.2,
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| 520 |
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0.2
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| 521 |
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],
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| 522 |
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| 523 |
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| 524 |
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| 525 |
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| 526 |
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| 527 |
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| 528 |
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0.001715459669640235
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| 529 |
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|
| 530 |
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| 531 |
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},
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| 532 |
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| 533 |
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| 534 |
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| 535 |
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| 536 |
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| 538 |
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| 539 |
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| 540 |
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| 541 |
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| 542 |
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| 543 |
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| 544 |
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| 545 |
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"source_not_tilted"
|
| 546 |
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],
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| 547 |
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| 550 |
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| 555 |
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| 556 |
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| 557 |
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| 558 |
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0.0,
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| 559 |
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0.0,
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| 560 |
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1.0
|
| 561 |
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],
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| 564 |
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| 565 |
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| 566 |
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| 567 |
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| 568 |
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|
| 569 |
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"valid_pour_held_grasp_finger_a": [
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| 570 |
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0.3842527298330431,
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| 571 |
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-0.03808215480442643,
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1.0358539988470508
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],
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0.3730013453579691,
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1.0358539988470508
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0.3786270375955061,
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-0.026092698129676434,
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1.0358539988470508
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0.3842527298330431,
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1.0358539988470508
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| 588 |
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],
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|
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|
| 592 |
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|
| 593 |
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|
| 595 |
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|
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"valid_pour_held_grasp_z_skew_frame": "object_local_up",
|
| 597 |
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| 598 |
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-0.0008867203218049687,
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| 599 |
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-0.9988653174471229,
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| 600 |
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0.04761608266467865
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| 601 |
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],
|
| 602 |
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|
| 603 |
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| 604 |
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|
| 607 |
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|
| 608 |
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"held_grasp_geometry_checked": true,
|
| 609 |
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"held_grasp_geometry_required": true,
|
| 610 |
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"held_grasp_source": "active_contact_pad_positions",
|
| 611 |
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"held_grasp_finger_a": [
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| 612 |
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0.3842527298330431,
|
| 613 |
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-0.03808215480442643,
|
| 614 |
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1.0358539988470508
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| 615 |
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],
|
| 616 |
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| 617 |
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0.3730013453579691,
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| 618 |
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-0.014103241454926438,
|
| 619 |
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1.0358539988470508
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| 620 |
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],
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| 621 |
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| 622 |
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0.3786270375955061,
|
| 623 |
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-0.026092698129676434,
|
| 624 |
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1.0358539988470508
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| 625 |
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],
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| 626 |
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| 627 |
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0.3842527298330431,
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| 628 |
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-0.014103241454926438,
|
| 629 |
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1.0358539988470508
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| 630 |
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],
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|
| 632 |
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| 633 |
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|
| 634 |
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|
| 635 |
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|
| 636 |
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|
| 637 |
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|
| 638 |
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"held_grasp_z_skew_frame": "object_local_up",
|
| 639 |
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"held_grasp_local_up_axis": [
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| 640 |
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-0.0008867203218049687,
|
| 641 |
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-0.9988653174471229,
|
| 642 |
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0.04761608266467865
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| 643 |
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],
|
| 644 |
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|
| 645 |
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|
| 646 |
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|
| 647 |
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|
| 648 |
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|
| 649 |
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|
| 650 |
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"liquid_check_enabled": false,
|
| 651 |
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"liquid_source": "beaker_a",
|
| 652 |
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"liquid_target": "beaker_c"
|
| 653 |
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},
|
| 654 |
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"failed_keys": [],
|
| 655 |
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"failure_code": null,
|
| 656 |
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"failure_messages": {},
|
| 657 |
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"safety": {
|
| 658 |
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"policy": {
|
| 659 |
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"skill": "pour",
|
| 660 |
+
"target_object": "beaker_c",
|
| 661 |
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"held_object": "beaker_a",
|
| 662 |
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"allowed_objects": [
|
| 663 |
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"beaker_a",
|
| 664 |
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"beaker_c"
|
| 665 |
+
],
|
| 666 |
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"allowed_object_paths": [
|
| 667 |
+
"/World/beaker_2",
|
| 668 |
+
"/World/beaker_3"
|
| 669 |
+
],
|
| 670 |
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"allowed_prim_substrings": [],
|
| 671 |
+
"robot_prim_substrings": [
|
| 672 |
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"Robotiq2F85",
|
| 673 |
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"Robotiq_2F_85",
|
| 674 |
+
"contact_sensor",
|
| 675 |
+
"dummy_base_prismatic_x_joint",
|
| 676 |
+
"dummy_base_prismatic_y_joint",
|
| 677 |
+
"dummy_base_revolute_z_joint",
|
| 678 |
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"elbow_joint",
|
| 679 |
+
"festo",
|
| 680 |
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"finger",
|
| 681 |
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"fr3",
|
| 682 |
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"fr3_duo_mobile",
|
| 683 |
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"fr3_joint1",
|
| 684 |
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"fr3_joint2",
|
| 685 |
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"fr3_joint3",
|
| 686 |
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"fr3_joint4",
|
| 687 |
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"fr3_joint5",
|
| 688 |
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"fr3_joint6",
|
| 689 |
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"fr3_joint7",
|
| 690 |
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"fr3_leftfinger",
|
| 691 |
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"fr3_rightfinger",
|
| 692 |
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"franka",
|
| 693 |
+
"geometry",
|
| 694 |
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"gripper",
|
| 695 |
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"gripper_center",
|
| 696 |
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"joint1",
|
| 697 |
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"joint2",
|
| 698 |
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"joint3",
|
| 699 |
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"joint4",
|
| 700 |
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"joint5",
|
| 701 |
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"joint6",
|
| 702 |
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"joint7",
|
| 703 |
+
"left_inner_finger",
|
| 704 |
+
"lift2",
|
| 705 |
+
"mobile_rotate",
|
| 706 |
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"mobile_translate_x",
|
| 707 |
+
"mobile_translate_y",
|
| 708 |
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"panda_joint1",
|
| 709 |
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"panda_joint2",
|
| 710 |
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"panda_joint3",
|
| 711 |
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"panda_joint4",
|
| 712 |
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"panda_joint5",
|
| 713 |
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"panda_joint6",
|
| 714 |
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"panda_joint7",
|
| 715 |
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"panda_leftfinger",
|
| 716 |
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"panda_leftfingertip",
|
| 717 |
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"panda_rightfinger",
|
| 718 |
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"panda_rightfingertip",
|
| 719 |
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"ridgebase",
|
| 720 |
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"ridgebase_festo",
|
| 721 |
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"ridgebase_fr3",
|
| 722 |
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"ridgebase_rizon4",
|
| 723 |
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"ridgebase_ur16e",
|
| 724 |
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"ridgebase_ur5e",
|
| 725 |
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"right_inner_finger",
|
| 726 |
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"rizon4",
|
| 727 |
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"robot",
|
| 728 |
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"robotiq_2f85",
|
| 729 |
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"shoulder_lift_joint",
|
| 730 |
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|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_96_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 96,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.29533069827372765,
|
| 26 |
+
0.20725206900958085,
|
| 27 |
+
1.0034002354109637
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0034002354109637,
|
| 30 |
+
"required_z": 0.8611064484101212,
|
| 31 |
+
"initial_z": 0.7611064484101212,
|
| 32 |
+
"lift_margin": 0.1422937870008425,
|
| 33 |
+
"gripper_z": 1.0045590606326953,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.29012276525238495,
|
| 38 |
+
0.20239890521040177,
|
| 39 |
+
1.0045590606326953
|
| 40 |
+
],
|
| 41 |
+
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|
| 419 |
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|
| 420 |
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|
| 421 |
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0.3,
|
| 422 |
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0.4
|
| 423 |
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],
|
| 424 |
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|
| 425 |
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0.2,
|
| 426 |
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0.2
|
| 427 |
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],
|
| 428 |
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|
| 429 |
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|
| 430 |
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|
| 431 |
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|
| 432 |
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|
| 433 |
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0.0006289394942887365,
|
| 434 |
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| 435 |
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],
|
| 436 |
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|
| 437 |
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},
|
| 438 |
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|
| 439 |
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|
| 440 |
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|
| 441 |
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|
| 442 |
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|
| 443 |
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|
| 444 |
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|
| 445 |
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|
| 446 |
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|
| 447 |
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|
| 448 |
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|
| 449 |
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},
|
| 450 |
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|
| 451 |
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"pour_controller_skill": "pour",
|
| 452 |
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|
| 453 |
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"pour_controller_source_name": "beaker",
|
| 454 |
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|
| 455 |
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|
| 456 |
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0.3799,
|
| 457 |
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|
| 458 |
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0.7701
|
| 459 |
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],
|
| 460 |
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|
| 461 |
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0.3799,
|
| 462 |
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|
| 463 |
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0.7701
|
| 464 |
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],
|
| 465 |
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|
| 466 |
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0.0,
|
| 467 |
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0.0,
|
| 468 |
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0.0
|
| 469 |
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],
|
| 470 |
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|
| 471 |
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|
| 472 |
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|
| 473 |
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|
| 474 |
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0.0006,
|
| 475 |
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-0.0017
|
| 476 |
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],
|
| 477 |
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|
| 478 |
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0.381,
|
| 479 |
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|
| 480 |
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1.0337
|
| 481 |
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],
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| 482 |
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|
| 483 |
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|
| 484 |
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|
| 485 |
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0.065,
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| 486 |
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0.0603,
|
| 487 |
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0.0904
|
| 488 |
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],
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| 489 |
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|
| 490 |
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| 491 |
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0.4
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| 492 |
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],
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| 493 |
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| 494 |
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0.2,
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| 495 |
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0.2
|
| 496 |
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],
|
| 497 |
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|
| 498 |
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|
| 499 |
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|
| 500 |
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|
| 501 |
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|
| 502 |
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|
| 503 |
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"source_name": "beaker",
|
| 504 |
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|
| 505 |
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|
| 506 |
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"tilt_axis": [
|
| 507 |
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1.0,
|
| 508 |
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0.0,
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| 509 |
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0.0
|
| 510 |
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],
|
| 511 |
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|
| 512 |
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| 513 |
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| 514 |
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| 515 |
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| 516 |
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0.4
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| 517 |
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],
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| 518 |
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| 519 |
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0.2,
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| 520 |
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0.2
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| 521 |
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],
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| 522 |
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| 523 |
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| 524 |
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| 526 |
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| 528 |
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| 529 |
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|
| 531 |
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},
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| 532 |
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|
| 533 |
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| 534 |
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| 535 |
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| 536 |
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| 538 |
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| 539 |
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| 540 |
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| 542 |
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| 543 |
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| 544 |
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| 545 |
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"source_not_tilted"
|
| 546 |
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],
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| 547 |
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| 550 |
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| 551 |
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| 555 |
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| 556 |
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| 557 |
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| 558 |
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0.0,
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| 559 |
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0.0,
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| 560 |
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1.0
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| 561 |
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],
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| 564 |
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| 565 |
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| 566 |
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|
| 567 |
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|
| 568 |
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| 569 |
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| 570 |
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0.38487007040390914,
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1.0333882431334747
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| 573 |
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],
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0.3736164261907445,
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1.0333882431334747
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0.3792432482973268,
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-0.026917378105890614,
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0.38487007040390914,
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1.0333882431334747
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| 592 |
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| 593 |
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| 598 |
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0.004811297455621276,
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-0.9989820872452055,
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| 600 |
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0.044851318598301715
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| 601 |
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],
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| 608 |
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|
| 609 |
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|
| 610 |
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|
| 611 |
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| 612 |
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0.38487007040390914,
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| 614 |
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1.0333882431334747
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| 619 |
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1.0333882431334747
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| 620 |
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0.3792432482973268,
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| 623 |
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-0.026917378105890614,
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| 624 |
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1.0333882431334747
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| 625 |
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0.38487007040390914,
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| 629 |
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1.0333882431334747
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],
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| 633 |
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| 634 |
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"held_grasp_size_source": "beaker_a_local_size",
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| 635 |
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| 636 |
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| 637 |
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| 638 |
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"held_grasp_z_skew_frame": "object_local_up",
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| 639 |
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"held_grasp_local_up_axis": [
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| 640 |
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0.004811297455621276,
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| 641 |
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-0.9989820872452055,
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| 642 |
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0.044851318598301715
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| 643 |
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],
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|
| 646 |
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|
| 647 |
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| 648 |
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| 649 |
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|
| 650 |
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"liquid_check_enabled": false,
|
| 651 |
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"liquid_source": "beaker_a",
|
| 652 |
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"liquid_target": "beaker_c"
|
| 653 |
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},
|
| 654 |
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"failed_keys": [],
|
| 655 |
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"failure_code": null,
|
| 656 |
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"failure_messages": {},
|
| 657 |
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"safety": {
|
| 658 |
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"policy": {
|
| 659 |
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"skill": "pour",
|
| 660 |
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"target_object": "beaker_c",
|
| 661 |
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"held_object": "beaker_a",
|
| 662 |
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"allowed_objects": [
|
| 663 |
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"beaker_a",
|
| 664 |
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"beaker_c"
|
| 665 |
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],
|
| 666 |
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"allowed_object_paths": [
|
| 667 |
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"/World/beaker_2",
|
| 668 |
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"/World/beaker_3"
|
| 669 |
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],
|
| 670 |
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"allowed_prim_substrings": [],
|
| 671 |
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"robot_prim_substrings": [
|
| 672 |
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"Robotiq2F85",
|
| 673 |
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"Robotiq_2F_85",
|
| 674 |
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"contact_sensor",
|
| 675 |
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"dummy_base_prismatic_x_joint",
|
| 676 |
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"dummy_base_prismatic_y_joint",
|
| 677 |
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"dummy_base_revolute_z_joint",
|
| 678 |
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"elbow_joint",
|
| 679 |
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"festo",
|
| 680 |
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"finger",
|
| 681 |
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"fr3",
|
| 682 |
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"fr3_duo_mobile",
|
| 683 |
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"fr3_joint1",
|
| 684 |
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"fr3_joint2",
|
| 685 |
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"fr3_joint3",
|
| 686 |
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"fr3_joint4",
|
| 687 |
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"fr3_joint5",
|
| 688 |
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"fr3_joint6",
|
| 689 |
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"fr3_joint7",
|
| 690 |
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"fr3_leftfinger",
|
| 691 |
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"fr3_rightfinger",
|
| 692 |
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"franka",
|
| 693 |
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"geometry",
|
| 694 |
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"gripper",
|
| 695 |
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"gripper_center",
|
| 696 |
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"joint1",
|
| 697 |
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"joint2",
|
| 698 |
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"joint3",
|
| 699 |
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"joint4",
|
| 700 |
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"joint5",
|
| 701 |
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"joint6",
|
| 702 |
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"joint7",
|
| 703 |
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"left_inner_finger",
|
| 704 |
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"lift2",
|
| 705 |
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"mobile_rotate",
|
| 706 |
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"mobile_translate_x",
|
| 707 |
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"mobile_translate_y",
|
| 708 |
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"panda_joint1",
|
| 709 |
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"panda_joint2",
|
| 710 |
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"panda_joint3",
|
| 711 |
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"panda_joint4",
|
| 712 |
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"panda_joint5",
|
| 713 |
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"panda_joint6",
|
| 714 |
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"panda_joint7",
|
| 715 |
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"panda_leftfinger",
|
| 716 |
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"panda_leftfingertip",
|
| 717 |
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"panda_rightfinger",
|
| 718 |
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"panda_rightfingertip",
|
| 719 |
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"ridgebase",
|
| 720 |
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"ridgebase_festo",
|
| 721 |
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"ridgebase_fr3",
|
| 722 |
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"ridgebase_rizon4",
|
| 723 |
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"ridgebase_ur16e",
|
| 724 |
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"ridgebase_ur5e",
|
| 725 |
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"right_inner_finger",
|
| 726 |
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"rizon4",
|
| 727 |
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"robot",
|
| 728 |
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"robotiq_2f85",
|
| 729 |
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"shoulder_lift_joint",
|
| 730 |
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"shoulder_pan_joint",
|
| 731 |
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"split_aloha",
|
| 732 |
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"tool_center",
|
| 733 |
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"ur16e",
|
| 734 |
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"ur5e",
|
| 735 |
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"visuals",
|
| 736 |
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"wrist",
|
| 737 |
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"wrist_1_joint",
|
| 738 |
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"wrist_2_joint",
|
| 739 |
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"wrist_3_joint"
|
| 740 |
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],
|
| 741 |
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"ignored_prim_substrings": [
|
| 742 |
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"base_link",
|
| 743 |
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"caster",
|
| 744 |
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"defaultgroundplane",
|
| 745 |
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"desk",
|
| 746 |
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"floor",
|
| 747 |
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"ground",
|
| 748 |
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"groundplane",
|
| 749 |
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"link0",
|
| 750 |
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"table",
|
| 751 |
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"wheel",
|
| 752 |
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"workbench"
|
| 753 |
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],
|
| 754 |
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"enabled": true
|
| 755 |
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},
|
| 756 |
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"status": "active",
|
| 757 |
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"passed": true,
|
| 758 |
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"source_missing": false,
|
| 759 |
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"forbidden": [],
|
| 760 |
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"disturbances": [],
|
| 761 |
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"last_frame": {
|
| 762 |
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"passed": true,
|
| 763 |
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"source_missing": false,
|
| 764 |
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"forbidden": [],
|
| 765 |
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"allowed": [
|
| 766 |
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{
|
| 767 |
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|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_97_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 97,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.29544350026140437,
|
| 26 |
+
0.20577514992462845,
|
| 27 |
+
1.0027129061606659
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0027129061606659,
|
| 30 |
+
"required_z": 0.8611065080147662,
|
| 31 |
+
"initial_z": 0.7611065080147662,
|
| 32 |
+
"lift_margin": 0.1416063981458997,
|
| 33 |
+
"gripper_z": 1.0041220855165105,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.29019422828851316,
|
| 38 |
+
0.2009847568600852,
|
| 39 |
+
1.0041220855165105
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005249271972891212,
|
| 43 |
+
0.004790393064543236,
|
| 44 |
+
-0.0014091793558446142
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.007106526715506326,
|
| 47 |
+
"object_to_gripper_z": -0.0014091793558446142,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.29544350026140437,
|
| 51 |
+
0.18096640978535353,
|
| 52 |
+
1.0027129061606659
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2840112382232248,
|
| 56 |
+
0.20577514992462845,
|
| 57 |
+
1.0027129061606659
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.28972736924231457,
|
| 61 |
+
0.193370779854991,
|
| 62 |
+
1.0027129061606659
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0057161310190897985,
|
| 66 |
+
0.01240437006963746,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027316116169903648,
|
| 70 |
+
"fingertip_max_gap": 0.09125808709793501,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
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|
| 795 |
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|
| 796 |
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| 797 |
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| 798 |
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| 799 |
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|
| 800 |
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| 801 |
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|
| 802 |
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|
| 803 |
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|
| 804 |
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|
| 805 |
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|
| 806 |
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|
| 807 |
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| 808 |
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|
| 809 |
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| 810 |
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|
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|
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|
| 870 |
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|
| 871 |
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|
| 872 |
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|
| 873 |
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|
| 874 |
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| 875 |
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| 877 |
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|
| 878 |
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| 879 |
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| 880 |
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|
| 881 |
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|
| 882 |
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|
| 883 |
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|
| 884 |
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|
| 885 |
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|
| 886 |
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| 887 |
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|
| 888 |
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|
| 889 |
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|
| 890 |
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|
| 891 |
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|
| 892 |
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|
| 893 |
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| 894 |
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|
| 895 |
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|
| 896 |
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| 897 |
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| 898 |
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|
| 899 |
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|
| 900 |
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|
| 901 |
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|
| 902 |
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|
| 903 |
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|
| 904 |
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|
| 905 |
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|
| 906 |
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|
| 907 |
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|
| 908 |
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"panda_joint3",
|
| 909 |
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"panda_joint4",
|
| 910 |
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|
| 911 |
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|
| 912 |
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|
| 913 |
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|
| 914 |
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|
| 915 |
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|
| 916 |
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|
| 917 |
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|
| 918 |
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|
| 919 |
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|
| 920 |
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|
| 921 |
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|
| 922 |
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|
| 923 |
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|
| 924 |
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|
| 925 |
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"robot",
|
| 926 |
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"robotiq_2f85",
|
| 927 |
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|
| 928 |
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|
| 929 |
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|
| 930 |
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|
| 931 |
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"ur16e",
|
| 932 |
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|
| 933 |
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"visuals",
|
| 934 |
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|
| 935 |
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"wrist_1_joint",
|
| 936 |
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|
| 937 |
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|
| 938 |
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| 939 |
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|
| 940 |
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|
| 941 |
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|
| 942 |
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|
| 943 |
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"desk",
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| 944 |
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|
| 945 |
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"ground",
|
| 946 |
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| 947 |
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| 948 |
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| 949 |
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| 950 |
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|
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| 954 |
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| 955 |
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|
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|
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| 975 |
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| 980 |
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|
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|
| 982 |
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|
| 983 |
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|
| 984 |
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],
|
| 985 |
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|
| 986 |
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|
| 987 |
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|
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|
| 989 |
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|
| 990 |
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|
| 991 |
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|
| 992 |
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|
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|
| 1000 |
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|
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|
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|
| 1008 |
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|
| 1009 |
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|
| 1010 |
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|
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|
| 1016 |
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}
|
| 1017 |
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}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_98_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 98,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.29967615115531326,
|
| 26 |
+
0.2032846719526872,
|
| 27 |
+
1.0040676455890236
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0040676455890236,
|
| 30 |
+
"required_z": 0.8611065676194107,
|
| 31 |
+
"initial_z": 0.7611065676194108,
|
| 32 |
+
"lift_margin": 0.14296107796961288,
|
| 33 |
+
"gripper_z": 1.0052471043694136,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2945579430320391,
|
| 38 |
+
0.19855953959993217,
|
| 39 |
+
1.0052471043694136
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005118208123274182,
|
| 43 |
+
0.00472513235275504,
|
| 44 |
+
-0.0011794587803899415
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006965840232463145,
|
| 47 |
+
"object_to_gripper_z": -0.0011794587803899415,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.29967615115531326,
|
| 51 |
+
0.17855753347716938,
|
| 52 |
+
1.0040676455890236
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2883425810716755,
|
| 56 |
+
0.2032846719526872,
|
| 57 |
+
1.0040676455890236
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2940093661134944,
|
| 61 |
+
0.1909211027149283,
|
| 62 |
+
1.0040676455890236
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005666785041818889,
|
| 66 |
+
0.012363569237758915,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027200757122333257,
|
| 70 |
+
"fingertip_max_gap": 0.0915386346158081,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013600378561166629,
|
| 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": 1.0040676455890236,
|
| 78 |
+
"object_top_z": 1.0541099585882816,
|
| 79 |
+
"finger_top_clearance": 0.05004231299925799,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015012693899777363,
|
| 81 |
+
"object_projection_between_fingers": 0.8263913004964254,
|
| 82 |
+
"object_to_finger_line_xy": 0.010302902805966402,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.048269317307904056,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.9720592952601826,
|
| 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": 175,
|
| 96 |
+
"max_stable_success_frames": 175,
|
| 97 |
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"gripper_away_ok": true,
|
| 827 |
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"object_z": 0.7611109571053092,
|
| 828 |
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"min_z": 0.5774145980897916,
|
| 829 |
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"min_z_margin": 0.2,
|
| 830 |
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"require_object_upright": true,
|
| 831 |
+
"object_upright_reference_source": "scene_initial",
|
| 832 |
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"release_fingertip_source": "active_contact_pad_positions",
|
| 833 |
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"release_finger_gap": 0.07531003102437396,
|
| 834 |
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"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 835 |
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"release_fingertip_min_gap": 0.08908107739743672,
|
| 836 |
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"release_gap_margin": 0.02,
|
| 837 |
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"release_gap_missing_size": false,
|
| 838 |
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"release_min_pad_clearance": 0.18993732590716914,
|
| 839 |
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"release_required_pad_clearance": 0.05454053869871836,
|
| 840 |
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"release_pad_clearance_ok": true,
|
| 841 |
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"release_gap_ok": false,
|
| 842 |
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"force_virtual_attach": false,
|
| 843 |
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"virtual_attach_allowed": false,
|
| 844 |
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"max_z": 0.8774145980897915,
|
| 845 |
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"max_z_margin": 0.1,
|
| 846 |
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"object_tilt_deg": 4.093755164380464,
|
| 847 |
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"object_max_tilt_deg": 12.0,
|
| 848 |
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"object_axis_flip_tolerance_deg": 3.0,
|
| 849 |
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"object_upright_axis_local": null,
|
| 850 |
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"required_placed_release_frames": 2,
|
| 851 |
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"placed_release_frames": 222,
|
| 852 |
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"max_placed_release_frames": 222
|
| 853 |
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},
|
| 854 |
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"failed_keys": [],
|
| 855 |
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"failure_code": null,
|
| 856 |
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"failure_messages": {},
|
| 857 |
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"safety": {
|
| 858 |
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"policy": {
|
| 859 |
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"skill": "place",
|
| 860 |
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"target_object": "beaker_a",
|
| 861 |
+
"held_object": "beaker_a",
|
| 862 |
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"allowed_objects": [
|
| 863 |
+
"beaker_a"
|
| 864 |
+
],
|
| 865 |
+
"allowed_object_paths": [
|
| 866 |
+
"/World/beaker_2"
|
| 867 |
+
],
|
| 868 |
+
"allowed_prim_substrings": [],
|
| 869 |
+
"robot_prim_substrings": [
|
| 870 |
+
"Robotiq2F85",
|
| 871 |
+
"Robotiq_2F_85",
|
| 872 |
+
"contact_sensor",
|
| 873 |
+
"dummy_base_prismatic_x_joint",
|
| 874 |
+
"dummy_base_prismatic_y_joint",
|
| 875 |
+
"dummy_base_revolute_z_joint",
|
| 876 |
+
"elbow_joint",
|
| 877 |
+
"festo",
|
| 878 |
+
"finger",
|
| 879 |
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"fr3",
|
| 880 |
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"fr3_duo_mobile",
|
| 881 |
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"fr3_joint1",
|
| 882 |
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"fr3_joint2",
|
| 883 |
+
"fr3_joint3",
|
| 884 |
+
"fr3_joint4",
|
| 885 |
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"fr3_joint5",
|
| 886 |
+
"fr3_joint6",
|
| 887 |
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"fr3_joint7",
|
| 888 |
+
"fr3_leftfinger",
|
| 889 |
+
"fr3_rightfinger",
|
| 890 |
+
"franka",
|
| 891 |
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"geometry",
|
| 892 |
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"gripper",
|
| 893 |
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"gripper_center",
|
| 894 |
+
"joint1",
|
| 895 |
+
"joint2",
|
| 896 |
+
"joint3",
|
| 897 |
+
"joint4",
|
| 898 |
+
"joint5",
|
| 899 |
+
"joint6",
|
| 900 |
+
"joint7",
|
| 901 |
+
"left_inner_finger",
|
| 902 |
+
"lift2",
|
| 903 |
+
"mobile_rotate",
|
| 904 |
+
"mobile_translate_x",
|
| 905 |
+
"mobile_translate_y",
|
| 906 |
+
"panda_joint1",
|
| 907 |
+
"panda_joint2",
|
| 908 |
+
"panda_joint3",
|
| 909 |
+
"panda_joint4",
|
| 910 |
+
"panda_joint5",
|
| 911 |
+
"panda_joint6",
|
| 912 |
+
"panda_joint7",
|
| 913 |
+
"panda_leftfinger",
|
| 914 |
+
"panda_leftfingertip",
|
| 915 |
+
"panda_rightfinger",
|
| 916 |
+
"panda_rightfingertip",
|
| 917 |
+
"ridgebase",
|
| 918 |
+
"ridgebase_festo",
|
| 919 |
+
"ridgebase_fr3",
|
| 920 |
+
"ridgebase_rizon4",
|
| 921 |
+
"ridgebase_ur16e",
|
| 922 |
+
"ridgebase_ur5e",
|
| 923 |
+
"right_inner_finger",
|
| 924 |
+
"rizon4",
|
| 925 |
+
"robot",
|
| 926 |
+
"robotiq_2f85",
|
| 927 |
+
"shoulder_lift_joint",
|
| 928 |
+
"shoulder_pan_joint",
|
| 929 |
+
"split_aloha",
|
| 930 |
+
"tool_center",
|
| 931 |
+
"ur16e",
|
| 932 |
+
"ur5e",
|
| 933 |
+
"visuals",
|
| 934 |
+
"wrist",
|
| 935 |
+
"wrist_1_joint",
|
| 936 |
+
"wrist_2_joint",
|
| 937 |
+
"wrist_3_joint"
|
| 938 |
+
],
|
| 939 |
+
"ignored_prim_substrings": [
|
| 940 |
+
"base_link",
|
| 941 |
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"caster",
|
| 942 |
+
"defaultgroundplane",
|
| 943 |
+
"desk",
|
| 944 |
+
"floor",
|
| 945 |
+
"ground",
|
| 946 |
+
"groundplane",
|
| 947 |
+
"link0",
|
| 948 |
+
"table",
|
| 949 |
+
"wheel",
|
| 950 |
+
"workbench"
|
| 951 |
+
],
|
| 952 |
+
"enabled": true
|
| 953 |
+
},
|
| 954 |
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"status": "active",
|
| 955 |
+
"passed": true,
|
| 956 |
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"source_missing": false,
|
| 957 |
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"forbidden": [],
|
| 958 |
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"disturbances": [],
|
| 959 |
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"last_frame": {
|
| 960 |
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"passed": true,
|
| 961 |
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"source_missing": false,
|
| 962 |
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"forbidden": [],
|
| 963 |
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"allowed": [],
|
| 964 |
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"ignored": [],
|
| 965 |
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"failed_keys": []
|
| 966 |
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},
|
| 967 |
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"failed_keys": []
|
| 968 |
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}
|
| 969 |
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},
|
| 970 |
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"gripper": null,
|
| 971 |
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"post_done_wait_frames": 0,
|
| 972 |
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"post_done_wait_exhausted": false
|
| 973 |
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},
|
| 974 |
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"physical_semantics": {
|
| 975 |
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"skill": "place",
|
| 976 |
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"target": "beaker_a",
|
| 977 |
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"attach_used": false,
|
| 978 |
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"attach_object": null,
|
| 979 |
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"attach_object_path": null,
|
| 980 |
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"attach_allowed": false,
|
| 981 |
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"ordinary_object_physical_only": true
|
| 982 |
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}
|
| 983 |
+
}
|
| 984 |
+
],
|
| 985 |
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"physical_semantics": {
|
| 986 |
+
"attach_records": [],
|
| 987 |
+
"ordinary_attach_violations": [],
|
| 988 |
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"forbidden_shortcuts_absent": true
|
| 989 |
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},
|
| 990 |
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"h5_episode_index": 98,
|
| 991 |
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"reproducibility": {
|
| 992 |
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"enabled": true,
|
| 993 |
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"action_seed": 2891541627295583141,
|
| 994 |
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"physical_seed": 1061768133550289122,
|
| 995 |
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"layout_id": "layout_00016",
|
| 996 |
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"step_seeds": [
|
| 997 |
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|
| 998 |
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|
| 999 |
+
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|
| 1000 |
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],
|
| 1001 |
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"workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65",
|
| 1002 |
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"strict_task_state": false,
|
| 1003 |
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"allow_physical_randomization": true,
|
| 1004 |
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"seed_source": "workflow.reproducibility",
|
| 1005 |
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"task_island_state_digest": "0acbb465c128935f7328425627492bbc3e53b04db6b60a7ad9ab4ddc96040800",
|
| 1006 |
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"visual_seed": 6363029493949714613,
|
| 1007 |
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"episode_index": 98,
|
| 1008 |
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"physical_randomization_enabled": true,
|
| 1009 |
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"motion_controller_type": "ik_servo",
|
| 1010 |
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"runtime_step_seeds": [
|
| 1011 |
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|
| 1012 |
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|
| 1013 |
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|
| 1014 |
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],
|
| 1015 |
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"runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3"
|
| 1016 |
+
}
|
| 1017 |
+
}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_99_success.json
ADDED
|
@@ -0,0 +1,1017 @@
|
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 99,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.2928825619727341,
|
| 26 |
+
0.20787741409600213,
|
| 27 |
+
1.0015637487452145
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0015637487452145,
|
| 30 |
+
"required_z": 0.861106508014766,
|
| 31 |
+
"initial_z": 0.761106508014766,
|
| 32 |
+
"lift_margin": 0.14045724073044852,
|
| 33 |
+
"gripper_z": 1.0031148098891882,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.28748299331295,
|
| 38 |
+
0.2030106844723862,
|
| 39 |
+
1.0031148098891882
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005399568659784082,
|
| 43 |
+
0.004866729623615923,
|
| 44 |
+
-0.001551061143973742
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.007269140178941609,
|
| 47 |
+
"object_to_gripper_z": -0.001551061143973742,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2928825619727341,
|
| 51 |
+
0.18296948035375607,
|
| 52 |
+
1.0015637487452145
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2813314505609408,
|
| 56 |
+
0.20787741409600213,
|
| 57 |
+
1.0015637487452145
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.28710700626683744,
|
| 61 |
+
0.1954234472248791,
|
| 62 |
+
1.0015637487452145
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005775555705896662,
|
| 66 |
+
0.012453966871123046,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027456025534584972,
|
| 70 |
+
"fingertip_max_gap": 0.0910535622728523,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013728012767292498,
|
| 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": 1.0015637487452145,
|
| 78 |
+
"object_top_z": 1.0514830296647573,
|
| 79 |
+
"finger_top_clearance": 0.049919280919542786,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014975784275862852,
|
| 81 |
+
"object_projection_between_fingers": 0.8230004324641732,
|
| 82 |
+
"object_to_finger_line_xy": 0.010479095648123994,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04802678113642615,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.840096705323783,
|
| 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": 171,
|
| 96 |
+
"max_stable_success_frames": 171,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
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"fr3_leftfinger",
|
| 134 |
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"fr3_rightfinger",
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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"gripper_center",
|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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"joint6",
|
| 145 |
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"joint7",
|
| 146 |
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"left_inner_finger",
|
| 147 |
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"lift2",
|
| 148 |
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"mobile_rotate",
|
| 149 |
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"mobile_translate_x",
|
| 150 |
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"mobile_translate_y",
|
| 151 |
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"panda_joint1",
|
| 152 |
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"panda_joint2",
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| 153 |
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"panda_joint3",
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| 154 |
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| 155 |
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| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 185 |
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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|
| 192 |
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| 193 |
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| 194 |
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| 212 |
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"placed_release_frames": 227,
|
| 852 |
+
"max_placed_release_frames": 227
|
| 853 |
+
},
|
| 854 |
+
"failed_keys": [],
|
| 855 |
+
"failure_code": null,
|
| 856 |
+
"failure_messages": {},
|
| 857 |
+
"safety": {
|
| 858 |
+
"policy": {
|
| 859 |
+
"skill": "place",
|
| 860 |
+
"target_object": "beaker_a",
|
| 861 |
+
"held_object": "beaker_a",
|
| 862 |
+
"allowed_objects": [
|
| 863 |
+
"beaker_a"
|
| 864 |
+
],
|
| 865 |
+
"allowed_object_paths": [
|
| 866 |
+
"/World/beaker_2"
|
| 867 |
+
],
|
| 868 |
+
"allowed_prim_substrings": [],
|
| 869 |
+
"robot_prim_substrings": [
|
| 870 |
+
"Robotiq2F85",
|
| 871 |
+
"Robotiq_2F_85",
|
| 872 |
+
"contact_sensor",
|
| 873 |
+
"dummy_base_prismatic_x_joint",
|
| 874 |
+
"dummy_base_prismatic_y_joint",
|
| 875 |
+
"dummy_base_revolute_z_joint",
|
| 876 |
+
"elbow_joint",
|
| 877 |
+
"festo",
|
| 878 |
+
"finger",
|
| 879 |
+
"fr3",
|
| 880 |
+
"fr3_duo_mobile",
|
| 881 |
+
"fr3_joint1",
|
| 882 |
+
"fr3_joint2",
|
| 883 |
+
"fr3_joint3",
|
| 884 |
+
"fr3_joint4",
|
| 885 |
+
"fr3_joint5",
|
| 886 |
+
"fr3_joint6",
|
| 887 |
+
"fr3_joint7",
|
| 888 |
+
"fr3_leftfinger",
|
| 889 |
+
"fr3_rightfinger",
|
| 890 |
+
"franka",
|
| 891 |
+
"geometry",
|
| 892 |
+
"gripper",
|
| 893 |
+
"gripper_center",
|
| 894 |
+
"joint1",
|
| 895 |
+
"joint2",
|
| 896 |
+
"joint3",
|
| 897 |
+
"joint4",
|
| 898 |
+
"joint5",
|
| 899 |
+
"joint6",
|
| 900 |
+
"joint7",
|
| 901 |
+
"left_inner_finger",
|
| 902 |
+
"lift2",
|
| 903 |
+
"mobile_rotate",
|
| 904 |
+
"mobile_translate_x",
|
| 905 |
+
"mobile_translate_y",
|
| 906 |
+
"panda_joint1",
|
| 907 |
+
"panda_joint2",
|
| 908 |
+
"panda_joint3",
|
| 909 |
+
"panda_joint4",
|
| 910 |
+
"panda_joint5",
|
| 911 |
+
"panda_joint6",
|
| 912 |
+
"panda_joint7",
|
| 913 |
+
"panda_leftfinger",
|
| 914 |
+
"panda_leftfingertip",
|
| 915 |
+
"panda_rightfinger",
|
| 916 |
+
"panda_rightfingertip",
|
| 917 |
+
"ridgebase",
|
| 918 |
+
"ridgebase_festo",
|
| 919 |
+
"ridgebase_fr3",
|
| 920 |
+
"ridgebase_rizon4",
|
| 921 |
+
"ridgebase_ur16e",
|
| 922 |
+
"ridgebase_ur5e",
|
| 923 |
+
"right_inner_finger",
|
| 924 |
+
"rizon4",
|
| 925 |
+
"robot",
|
| 926 |
+
"robotiq_2f85",
|
| 927 |
+
"shoulder_lift_joint",
|
| 928 |
+
"shoulder_pan_joint",
|
| 929 |
+
"split_aloha",
|
| 930 |
+
"tool_center",
|
| 931 |
+
"ur16e",
|
| 932 |
+
"ur5e",
|
| 933 |
+
"visuals",
|
| 934 |
+
"wrist",
|
| 935 |
+
"wrist_1_joint",
|
| 936 |
+
"wrist_2_joint",
|
| 937 |
+
"wrist_3_joint"
|
| 938 |
+
],
|
| 939 |
+
"ignored_prim_substrings": [
|
| 940 |
+
"base_link",
|
| 941 |
+
"caster",
|
| 942 |
+
"defaultgroundplane",
|
| 943 |
+
"desk",
|
| 944 |
+
"floor",
|
| 945 |
+
"ground",
|
| 946 |
+
"groundplane",
|
| 947 |
+
"link0",
|
| 948 |
+
"table",
|
| 949 |
+
"wheel",
|
| 950 |
+
"workbench"
|
| 951 |
+
],
|
| 952 |
+
"enabled": true
|
| 953 |
+
},
|
| 954 |
+
"status": "active",
|
| 955 |
+
"passed": true,
|
| 956 |
+
"source_missing": false,
|
| 957 |
+
"forbidden": [],
|
| 958 |
+
"disturbances": [],
|
| 959 |
+
"last_frame": {
|
| 960 |
+
"passed": true,
|
| 961 |
+
"source_missing": false,
|
| 962 |
+
"forbidden": [],
|
| 963 |
+
"allowed": [],
|
| 964 |
+
"ignored": [],
|
| 965 |
+
"failed_keys": []
|
| 966 |
+
},
|
| 967 |
+
"failed_keys": []
|
| 968 |
+
}
|
| 969 |
+
},
|
| 970 |
+
"gripper": null,
|
| 971 |
+
"post_done_wait_frames": 0,
|
| 972 |
+
"post_done_wait_exhausted": false
|
| 973 |
+
},
|
| 974 |
+
"physical_semantics": {
|
| 975 |
+
"skill": "place",
|
| 976 |
+
"target": "beaker_a",
|
| 977 |
+
"attach_used": false,
|
| 978 |
+
"attach_object": null,
|
| 979 |
+
"attach_object_path": null,
|
| 980 |
+
"attach_allowed": false,
|
| 981 |
+
"ordinary_object_physical_only": true
|
| 982 |
+
}
|
| 983 |
+
}
|
| 984 |
+
],
|
| 985 |
+
"physical_semantics": {
|
| 986 |
+
"attach_records": [],
|
| 987 |
+
"ordinary_attach_violations": [],
|
| 988 |
+
"forbidden_shortcuts_absent": true
|
| 989 |
+
},
|
| 990 |
+
"h5_episode_index": 99,
|
| 991 |
+
"reproducibility": {
|
| 992 |
+
"enabled": true,
|
| 993 |
+
"action_seed": 2891541627295583141,
|
| 994 |
+
"physical_seed": 1061768133550289122,
|
| 995 |
+
"layout_id": "layout_00016",
|
| 996 |
+
"step_seeds": [
|
| 997 |
+
1164515841808467485,
|
| 998 |
+
5066845160497422571,
|
| 999 |
+
1159376154734467498
|
| 1000 |
+
],
|
| 1001 |
+
"workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65",
|
| 1002 |
+
"strict_task_state": false,
|
| 1003 |
+
"allow_physical_randomization": true,
|
| 1004 |
+
"seed_source": "workflow.reproducibility",
|
| 1005 |
+
"task_island_state_digest": "3f7c66ecca7a1cb26c37790817b7a1d587a39ecc4d2e93622d9e0a8762a676a8",
|
| 1006 |
+
"visual_seed": 3394836868239480448,
|
| 1007 |
+
"episode_index": 99,
|
| 1008 |
+
"physical_randomization_enabled": true,
|
| 1009 |
+
"motion_controller_type": "ik_servo",
|
| 1010 |
+
"runtime_step_seeds": [
|
| 1011 |
+
1164515841808467485,
|
| 1012 |
+
5066845160497422571,
|
| 1013 |
+
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|
| 1014 |
+
],
|
| 1015 |
+
"runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3"
|
| 1016 |
+
}
|
| 1017 |
+
}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_9_success.json
ADDED
|
@@ -0,0 +1,1017 @@
|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 9,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.29727852825551826,
|
| 26 |
+
0.20542899776512233,
|
| 27 |
+
1.0027970048091974
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0027970048091974,
|
| 30 |
+
"required_z": 0.8611064484101213,
|
| 31 |
+
"initial_z": 0.7611064484101213,
|
| 32 |
+
"lift_margin": 0.14169055639907613,
|
| 33 |
+
"gripper_z": 1.004619965658015,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.29204177493734057,
|
| 38 |
+
0.20041911557121744,
|
| 39 |
+
1.004619965658015
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.005236753318177689,
|
| 43 |
+
0.005009882193904885,
|
| 44 |
+
-0.0018229608488176119
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.007247241193188638,
|
| 47 |
+
"object_to_gripper_z": -0.0018229608488176119,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.29727852825551826,
|
| 51 |
+
0.18101416290590383,
|
| 52 |
+
1.0027970048091974
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.28503481298530986,
|
| 56 |
+
0.20542899776512233,
|
| 57 |
+
1.0027970048091974
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.29115667062041406,
|
| 61 |
+
0.19322158033551307,
|
| 62 |
+
1.0027970048091974
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0061218576351042,
|
| 66 |
+
0.012207417429609263,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02731286738555374,
|
| 70 |
+
"fingertip_max_gap": 0.09126905014991224,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013656433692776882,
|
| 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": 1.0027970048091974,
|
| 78 |
+
"object_top_z": 1.0527291870112714,
|
| 79 |
+
"finger_top_clearance": 0.04993218220207396,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014979654660622187,
|
| 81 |
+
"object_projection_between_fingers": 0.7990482230856395,
|
| 82 |
+
"object_to_finger_line_xy": 0.010944595533149252,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04813452507495612,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.040447425519202,
|
| 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": 173,
|
| 96 |
+
"max_stable_success_frames": 173,
|
| 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 |
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| 170 |
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| 171 |
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| 172 |
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| 174 |
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| 175 |
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| 176 |
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| 178 |
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| 179 |
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| 189 |
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oid sha256:e4225d2172764e35a4ad28348baf37e183b322325caff036815255255c366fa3
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| 3 |
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size 5780785
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ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/dataset/episode_0026.h5
ADDED
|
@@ -0,0 +1,3 @@
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5011843418abe48ad884413a5d0d93f2cf6b83e93faec314f554a1f590517d80
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| 3 |
+
size 6616508
|