Upload folder using huggingface_hub (part 4)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +28 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep006/traj.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep006_fail.mp4 +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/diag.json +83 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/diag.npz +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/episode.mcap +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/grasp.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/meta.json +25 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/pose.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/press.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/traj.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007_fail.mp4 +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/diag.json +83 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/diag.npz +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/episode.mcap +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/grasp.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/meta.json +25 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/pose.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/press.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/traj.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008_fail.mp4 +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/diag.json +83 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/diag.npz +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/episode.mcap +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/grasp.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/meta.json +25 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/pose.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/press.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/traj.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009_fail.mp4 +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/diag.json +83 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/diag.npz +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/episode.mcap +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/grasp.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/meta.json +25 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/pose.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/press.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/traj.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010_fail.mp4 +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/diag.json +83 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/diag.npz +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/episode.mcap +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/grasp.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/meta.json +25 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/pose.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/press.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/traj.png +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011_fail.mp4 +3 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep012/diag.json +83 -0
- brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep012/diag.npz +3 -0
.gitattributes
CHANGED
|
@@ -8393,3 +8393,31 @@ brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep003/episode.mcap
|
|
| 8393 |
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep004/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8394 |
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep005/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8395 |
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep006/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 8393 |
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep004/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8394 |
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep005/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8395 |
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep006/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8396 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8397 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8398 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8399 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8400 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8401 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep012/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8402 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep013/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8403 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep014/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8404 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep015/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8405 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep000/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8406 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep001/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8407 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep002/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8408 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep003/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8409 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep004/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8410 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep005/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8411 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep006/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8412 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep007/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8413 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep008/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8414 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep009/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8415 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep010/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8416 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep011/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8417 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep012/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8418 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep013/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8419 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep014/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8420 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_30000/ep015/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8421 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_34999/ep000/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8422 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_34999/ep001/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
| 8423 |
+
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_4x_34999/ep002/episode.mcap filter=lfs diff=lfs merge=lfs -text
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep006/traj.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep006_fail.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d6ca4d9bd63e6a1d51bd6979afd949caddc01a5010f98e19c6de4adb0d25cc94
|
| 3 |
+
size 165179
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/diag.json
ADDED
|
@@ -0,0 +1,83 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"success": false,
|
| 3 |
+
"actions": 300,
|
| 4 |
+
"min_dist_m": 0.013721143826842308,
|
| 5 |
+
"t_min_dist_s": 9.966666221618652,
|
| 6 |
+
"min_dist_xy_m": 0.002120313001796603,
|
| 7 |
+
"reached_grasp_xy": true,
|
| 8 |
+
"reached_tol": true,
|
| 9 |
+
"frac_time_near": 0.6,
|
| 10 |
+
"closed_ever": true,
|
| 11 |
+
"closed_while_near": true,
|
| 12 |
+
"t_first_close_s": 2.133333444595337,
|
| 13 |
+
"dist_at_close_m": 0.02924393117427826,
|
| 14 |
+
"jaw_axis_offset_at_close_m": 0.017888015136122704,
|
| 15 |
+
"approach_offset_at_close_m": -0.01232921238988638,
|
| 16 |
+
"v_cmd_at_close_m": 0.05000000074505806,
|
| 17 |
+
"v_achieved_at_close_m": 0.006811518222093582,
|
| 18 |
+
"v_achieved_post_close_m": 0.04022248834371567,
|
| 19 |
+
"finger_torque_post_close_N": 100.0,
|
| 20 |
+
"finger_torque_hold_N": 21.393081665039062,
|
| 21 |
+
"v_cmd_max_m": 0.05000000074505806,
|
| 22 |
+
"v_achieved_max_m": 0.049994148313999176,
|
| 23 |
+
"finger_torque_max_N": 100.0,
|
| 24 |
+
"jaw_vs_brush_deg_at_close": 87.1037368774414,
|
| 25 |
+
"grasp_flag_ever": true,
|
| 26 |
+
"placed_flag_ever": true,
|
| 27 |
+
"brush_lift_max_m": 0.12690386176109314,
|
| 28 |
+
"brush_disp_max_m": 0.14967262744903564,
|
| 29 |
+
"box_disp_max_m": 1.434236764907837e-07,
|
| 30 |
+
"joint_err_max_deg": 10.390681266784668,
|
| 31 |
+
"joint_err_at_close_deg": 0.8774939775466919,
|
| 32 |
+
"seat_z_m": 0.029551493003964424,
|
| 33 |
+
"seat_z_min_m": 0.003973041195422411,
|
| 34 |
+
"seat_overhang_m": 0.008387106470763683,
|
| 35 |
+
"seat_overhang_min_m": 0.008386936038732529,
|
| 36 |
+
"placed_in_slot_ever": false,
|
| 37 |
+
"pressed_to_seat_ever": false,
|
| 38 |
+
"seat_z_min_pressed_gap_m": null,
|
| 39 |
+
"carry_offset_jaw_axis_m": 0.00047032220754772425,
|
| 40 |
+
"carry_offset_along_handle_m": -0.018917761743068695,
|
| 41 |
+
"carry_offset_jitter_m": 4.407504093251191e-06,
|
| 42 |
+
"press_force_hold_N": -0.5132609605789185,
|
| 43 |
+
"press_force_peak_N": 12.405389785766602,
|
| 44 |
+
"press_force_frames": 21,
|
| 45 |
+
"press_torque_peak_Nm": 2.276627540588379,
|
| 46 |
+
"cause": "placed but 8.4 mm outside the pocket footprint (allowed 3 mm) -- it is resting on the deck, not in the slot, so no amount of pressing seats it. Held 18.9 mm off-centre along the handle, and the pocket has ~1 mm of slack",
|
| 47 |
+
"geom": {
|
| 48 |
+
"gclose": 0.05,
|
| 49 |
+
"gscale": 0.5,
|
| 50 |
+
"grasp_xy": 0.06,
|
| 51 |
+
"grip_closed_width": 0.03,
|
| 52 |
+
"contact_travel": 0.0387,
|
| 53 |
+
"firm_travel": 0.055,
|
| 54 |
+
"brush_half_width": 0.006,
|
| 55 |
+
"jaw_axis": 0,
|
| 56 |
+
"reach_tol": 0.02,
|
| 57 |
+
"lift_tol": 0.02,
|
| 58 |
+
"tray_x": 0.224,
|
| 59 |
+
"tray_y": 0.141,
|
| 60 |
+
"slot_x": [
|
| 61 |
+
0.18965,
|
| 62 |
+
0.21565
|
| 63 |
+
],
|
| 64 |
+
"slot_y": [
|
| 65 |
+
0.01372,
|
| 66 |
+
0.12872
|
| 67 |
+
],
|
| 68 |
+
"slot_margin": 0.003,
|
| 69 |
+
"slot_seat_z": 0.03,
|
| 70 |
+
"slot_pressed_z": 0.027,
|
| 71 |
+
"press_force_min_N": 2.0,
|
| 72 |
+
"footprint_lo": [
|
| 73 |
+
-0.05652,
|
| 74 |
+
-0.00617,
|
| 75 |
+
-0.0117
|
| 76 |
+
],
|
| 77 |
+
"footprint_hi": [
|
| 78 |
+
0.05648,
|
| 79 |
+
0.00583,
|
| 80 |
+
0.0113
|
| 81 |
+
]
|
| 82 |
+
}
|
| 83 |
+
}
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/diag.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:eefe68593a0bca2ee327923219181d00f763a22a810125a583aa18dfafebbbaa
|
| 3 |
+
size 118197
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/episode.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fd9c1e7054940d35e615179631133f98a66c36e534d2fd444f30ec3c6cfa5561
|
| 3 |
+
size 1428645
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/grasp.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/meta.json
ADDED
|
@@ -0,0 +1,25 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "brush",
|
| 3 |
+
"prompt": "insert the brush into the box slot",
|
| 4 |
+
"source": "rollout",
|
| 5 |
+
"policy": "gpu-009-node-002:8000",
|
| 6 |
+
"run": "brush/0723_10",
|
| 7 |
+
"episode": 7,
|
| 8 |
+
"success": false,
|
| 9 |
+
"frames": 300,
|
| 10 |
+
"capture_hz": 30.0,
|
| 11 |
+
"action_chunk": null,
|
| 12 |
+
"exec_horizon": 25,
|
| 13 |
+
"control_hz": 30.0,
|
| 14 |
+
"camera_pix_fmt": {
|
| 15 |
+
"left_wrist_camera": "yuvj420p",
|
| 16 |
+
"right_wrist_camera": "yuvj420p",
|
| 17 |
+
"workspace_camera": "yuv420p"
|
| 18 |
+
},
|
| 19 |
+
"grip_mode": "raw",
|
| 20 |
+
"env_index": 7,
|
| 21 |
+
"wave": [
|
| 22 |
+
0,
|
| 23 |
+
15
|
| 24 |
+
]
|
| 25 |
+
}
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/pose.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/press.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007/traj.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep007_fail.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:15a81f0ed3e034f319906374bfb515064cf008e2a28283d953b849b62238a267
|
| 3 |
+
size 198555
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/diag.json
ADDED
|
@@ -0,0 +1,83 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"success": false,
|
| 3 |
+
"actions": 300,
|
| 4 |
+
"min_dist_m": 0.016338162124156952,
|
| 5 |
+
"t_min_dist_s": 8.600000381469727,
|
| 6 |
+
"min_dist_xy_m": 0.010345791466534138,
|
| 7 |
+
"reached_grasp_xy": true,
|
| 8 |
+
"reached_tol": true,
|
| 9 |
+
"frac_time_near": 0.63,
|
| 10 |
+
"closed_ever": true,
|
| 11 |
+
"closed_while_near": true,
|
| 12 |
+
"t_first_close_s": 2.866666555404663,
|
| 13 |
+
"dist_at_close_m": 0.021434716880321503,
|
| 14 |
+
"jaw_axis_offset_at_close_m": -0.012489920482039452,
|
| 15 |
+
"approach_offset_at_close_m": -0.010228165425360203,
|
| 16 |
+
"v_cmd_at_close_m": 0.05000000074505806,
|
| 17 |
+
"v_achieved_at_close_m": 0.0071553876623511314,
|
| 18 |
+
"v_achieved_post_close_m": 0.040212519466876984,
|
| 19 |
+
"finger_torque_post_close_N": 99.89100646972656,
|
| 20 |
+
"finger_torque_hold_N": 21.243059158325195,
|
| 21 |
+
"v_cmd_max_m": 0.05000000074505806,
|
| 22 |
+
"v_achieved_max_m": 0.04021349176764488,
|
| 23 |
+
"finger_torque_max_N": 99.89100646972656,
|
| 24 |
+
"jaw_vs_brush_deg_at_close": 85.31442260742188,
|
| 25 |
+
"grasp_flag_ever": true,
|
| 26 |
+
"placed_flag_ever": true,
|
| 27 |
+
"brush_lift_max_m": 0.1306808441877365,
|
| 28 |
+
"brush_disp_max_m": 0.13797123730182648,
|
| 29 |
+
"box_disp_max_m": 0.0182783342897892,
|
| 30 |
+
"joint_err_max_deg": 8.237272262573242,
|
| 31 |
+
"joint_err_at_close_deg": 1.3983463048934937,
|
| 32 |
+
"seat_z_m": 0.02758692018687725,
|
| 33 |
+
"seat_z_min_m": 0.003972756210714579,
|
| 34 |
+
"seat_overhang_m": 0.004542934242635965,
|
| 35 |
+
"seat_overhang_min_m": 0.00366370496340096,
|
| 36 |
+
"placed_in_slot_ever": false,
|
| 37 |
+
"pressed_to_seat_ever": false,
|
| 38 |
+
"seat_z_min_pressed_gap_m": null,
|
| 39 |
+
"carry_offset_jaw_axis_m": 0.0005855873459950089,
|
| 40 |
+
"carry_offset_along_handle_m": -0.013241137377917767,
|
| 41 |
+
"carry_offset_jitter_m": 1.9470595361781307e-05,
|
| 42 |
+
"press_force_hold_N": 1.623039722442627,
|
| 43 |
+
"press_force_peak_N": 1.623039722442627,
|
| 44 |
+
"press_force_frames": 3,
|
| 45 |
+
"press_torque_peak_Nm": 0.6677227020263672,
|
| 46 |
+
"cause": "placed but 4.5 mm outside the pocket footprint (allowed 3 mm) -- it is resting on the deck, not in the slot, so no amount of pressing seats it. Held 13.2 mm off-centre along the handle, and the pocket has ~1 mm of slack",
|
| 47 |
+
"geom": {
|
| 48 |
+
"gclose": 0.05,
|
| 49 |
+
"gscale": 0.5,
|
| 50 |
+
"grasp_xy": 0.06,
|
| 51 |
+
"grip_closed_width": 0.03,
|
| 52 |
+
"contact_travel": 0.0387,
|
| 53 |
+
"firm_travel": 0.055,
|
| 54 |
+
"brush_half_width": 0.006,
|
| 55 |
+
"jaw_axis": 0,
|
| 56 |
+
"reach_tol": 0.02,
|
| 57 |
+
"lift_tol": 0.02,
|
| 58 |
+
"tray_x": 0.224,
|
| 59 |
+
"tray_y": 0.141,
|
| 60 |
+
"slot_x": [
|
| 61 |
+
0.18965,
|
| 62 |
+
0.21565
|
| 63 |
+
],
|
| 64 |
+
"slot_y": [
|
| 65 |
+
0.01372,
|
| 66 |
+
0.12872
|
| 67 |
+
],
|
| 68 |
+
"slot_margin": 0.003,
|
| 69 |
+
"slot_seat_z": 0.03,
|
| 70 |
+
"slot_pressed_z": 0.027,
|
| 71 |
+
"press_force_min_N": 2.0,
|
| 72 |
+
"footprint_lo": [
|
| 73 |
+
-0.05652,
|
| 74 |
+
-0.00617,
|
| 75 |
+
-0.0117
|
| 76 |
+
],
|
| 77 |
+
"footprint_hi": [
|
| 78 |
+
0.05648,
|
| 79 |
+
0.00583,
|
| 80 |
+
0.0113
|
| 81 |
+
]
|
| 82 |
+
}
|
| 83 |
+
}
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/diag.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:437cf9913de7b5f1db0abd7d8f1da65fbbc18a753357c341ba7cf311cb8129e3
|
| 3 |
+
size 118799
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/episode.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d65bf8f0b6e16f6c538e945f7ca3689f69baa44ff71b0b76974f789b100d6152
|
| 3 |
+
size 1333255
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/grasp.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/meta.json
ADDED
|
@@ -0,0 +1,25 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "brush",
|
| 3 |
+
"prompt": "insert the brush into the box slot",
|
| 4 |
+
"source": "rollout",
|
| 5 |
+
"policy": "gpu-009-node-002:8000",
|
| 6 |
+
"run": "brush/0723_10",
|
| 7 |
+
"episode": 8,
|
| 8 |
+
"success": false,
|
| 9 |
+
"frames": 300,
|
| 10 |
+
"capture_hz": 30.0,
|
| 11 |
+
"action_chunk": null,
|
| 12 |
+
"exec_horizon": 25,
|
| 13 |
+
"control_hz": 30.0,
|
| 14 |
+
"camera_pix_fmt": {
|
| 15 |
+
"left_wrist_camera": "yuvj420p",
|
| 16 |
+
"right_wrist_camera": "yuvj420p",
|
| 17 |
+
"workspace_camera": "yuv420p"
|
| 18 |
+
},
|
| 19 |
+
"grip_mode": "raw",
|
| 20 |
+
"env_index": 8,
|
| 21 |
+
"wave": [
|
| 22 |
+
0,
|
| 23 |
+
15
|
| 24 |
+
]
|
| 25 |
+
}
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/pose.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/press.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008/traj.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep008_fail.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2e1bed7303d28e08ade098f1965ef7ebeec05350a4eae632c6e787061496d7c5
|
| 3 |
+
size 204458
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/diag.json
ADDED
|
@@ -0,0 +1,83 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"success": false,
|
| 3 |
+
"actions": 300,
|
| 4 |
+
"min_dist_m": 0.010421356186270714,
|
| 5 |
+
"t_min_dist_s": 9.266666412353516,
|
| 6 |
+
"min_dist_xy_m": 0.0011800986248999834,
|
| 7 |
+
"reached_grasp_xy": true,
|
| 8 |
+
"reached_tol": true,
|
| 9 |
+
"frac_time_near": 0.8366666666666667,
|
| 10 |
+
"closed_ever": true,
|
| 11 |
+
"closed_while_near": true,
|
| 12 |
+
"t_first_close_s": 2.0,
|
| 13 |
+
"dist_at_close_m": 0.02223547175526619,
|
| 14 |
+
"jaw_axis_offset_at_close_m": 0.018772795796394348,
|
| 15 |
+
"approach_offset_at_close_m": -0.011913388036191463,
|
| 16 |
+
"v_cmd_at_close_m": 0.05000000074505806,
|
| 17 |
+
"v_achieved_at_close_m": 0.006865954026579857,
|
| 18 |
+
"v_achieved_post_close_m": 0.038348522037267685,
|
| 19 |
+
"finger_torque_post_close_N": 100.0,
|
| 20 |
+
"finger_torque_hold_N": 25.44682502746582,
|
| 21 |
+
"v_cmd_max_m": 0.05000000074505806,
|
| 22 |
+
"v_achieved_max_m": 0.03849184513092041,
|
| 23 |
+
"finger_torque_max_N": 100.0,
|
| 24 |
+
"jaw_vs_brush_deg_at_close": 84.73002624511719,
|
| 25 |
+
"grasp_flag_ever": true,
|
| 26 |
+
"placed_flag_ever": false,
|
| 27 |
+
"brush_lift_max_m": 0.1372595578432083,
|
| 28 |
+
"brush_disp_max_m": 0.1661740094423294,
|
| 29 |
+
"box_disp_max_m": 6.146728992462158e-08,
|
| 30 |
+
"joint_err_max_deg": 10.689650535583496,
|
| 31 |
+
"joint_err_at_close_deg": 1.1851258277893066,
|
| 32 |
+
"seat_z_m": 0.055700451135635376,
|
| 33 |
+
"seat_z_min_m": 0.003972768783569336,
|
| 34 |
+
"seat_overhang_m": 0.07057159394025803,
|
| 35 |
+
"seat_overhang_min_m": 0.061574507504701614,
|
| 36 |
+
"placed_in_slot_ever": false,
|
| 37 |
+
"pressed_to_seat_ever": false,
|
| 38 |
+
"seat_z_min_pressed_gap_m": null,
|
| 39 |
+
"carry_offset_jaw_axis_m": 0.0005954299122095108,
|
| 40 |
+
"carry_offset_along_handle_m": 0.0004240104171913117,
|
| 41 |
+
"carry_offset_jitter_m": 0.000233119135373272,
|
| 42 |
+
"press_force_hold_N": null,
|
| 43 |
+
"press_force_peak_N": null,
|
| 44 |
+
"press_torque_peak_Nm": null,
|
| 45 |
+
"press_force_frames": 0,
|
| 46 |
+
"cause": "picked the brush (lift 137 mm) but never set it down in the tray",
|
| 47 |
+
"geom": {
|
| 48 |
+
"gclose": 0.05,
|
| 49 |
+
"gscale": 0.5,
|
| 50 |
+
"grasp_xy": 0.06,
|
| 51 |
+
"grip_closed_width": 0.03,
|
| 52 |
+
"contact_travel": 0.0387,
|
| 53 |
+
"firm_travel": 0.055,
|
| 54 |
+
"brush_half_width": 0.006,
|
| 55 |
+
"jaw_axis": 0,
|
| 56 |
+
"reach_tol": 0.02,
|
| 57 |
+
"lift_tol": 0.02,
|
| 58 |
+
"tray_x": 0.224,
|
| 59 |
+
"tray_y": 0.141,
|
| 60 |
+
"slot_x": [
|
| 61 |
+
0.18965,
|
| 62 |
+
0.21565
|
| 63 |
+
],
|
| 64 |
+
"slot_y": [
|
| 65 |
+
0.01372,
|
| 66 |
+
0.12872
|
| 67 |
+
],
|
| 68 |
+
"slot_margin": 0.003,
|
| 69 |
+
"slot_seat_z": 0.03,
|
| 70 |
+
"slot_pressed_z": 0.027,
|
| 71 |
+
"press_force_min_N": 2.0,
|
| 72 |
+
"footprint_lo": [
|
| 73 |
+
-0.05652,
|
| 74 |
+
-0.00617,
|
| 75 |
+
-0.0117
|
| 76 |
+
],
|
| 77 |
+
"footprint_hi": [
|
| 78 |
+
0.05648,
|
| 79 |
+
0.00583,
|
| 80 |
+
0.0113
|
| 81 |
+
]
|
| 82 |
+
}
|
| 83 |
+
}
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/diag.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b4759e4612717c5cd0cdac714741b42a46e6fca20936c660c7ea67bfaa12e7b1
|
| 3 |
+
size 119957
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/episode.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:acdbac14e65e6e6ac9efbf790351edaabe7809c44ecfcafc8e246798bc939300
|
| 3 |
+
size 1155534
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/grasp.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/meta.json
ADDED
|
@@ -0,0 +1,25 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "brush",
|
| 3 |
+
"prompt": "insert the brush into the box slot",
|
| 4 |
+
"source": "rollout",
|
| 5 |
+
"policy": "gpu-009-node-002:8000",
|
| 6 |
+
"run": "brush/0723_10",
|
| 7 |
+
"episode": 9,
|
| 8 |
+
"success": false,
|
| 9 |
+
"frames": 300,
|
| 10 |
+
"capture_hz": 30.0,
|
| 11 |
+
"action_chunk": null,
|
| 12 |
+
"exec_horizon": 25,
|
| 13 |
+
"control_hz": 30.0,
|
| 14 |
+
"camera_pix_fmt": {
|
| 15 |
+
"left_wrist_camera": "yuvj420p",
|
| 16 |
+
"right_wrist_camera": "yuvj420p",
|
| 17 |
+
"workspace_camera": "yuv420p"
|
| 18 |
+
},
|
| 19 |
+
"grip_mode": "raw",
|
| 20 |
+
"env_index": 9,
|
| 21 |
+
"wave": [
|
| 22 |
+
0,
|
| 23 |
+
15
|
| 24 |
+
]
|
| 25 |
+
}
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/pose.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/press.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009/traj.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep009_fail.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a5b1ad5527b2206e3836e881372ffd1a926850d736b0ba6cc6f5eccc1f7e8984
|
| 3 |
+
size 160135
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/diag.json
ADDED
|
@@ -0,0 +1,83 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"success": false,
|
| 3 |
+
"actions": 300,
|
| 4 |
+
"min_dist_m": 0.007664486765861511,
|
| 5 |
+
"t_min_dist_s": 4.199999809265137,
|
| 6 |
+
"min_dist_xy_m": 0.006318191532045603,
|
| 7 |
+
"reached_grasp_xy": true,
|
| 8 |
+
"reached_tol": true,
|
| 9 |
+
"frac_time_near": 0.4166666666666667,
|
| 10 |
+
"closed_ever": true,
|
| 11 |
+
"closed_while_near": true,
|
| 12 |
+
"t_first_close_s": 2.700000047683716,
|
| 13 |
+
"dist_at_close_m": 0.014941973611712456,
|
| 14 |
+
"jaw_axis_offset_at_close_m": 0.013765884563326836,
|
| 15 |
+
"approach_offset_at_close_m": -0.00020071366452611983,
|
| 16 |
+
"v_cmd_at_close_m": 0.04991981387138367,
|
| 17 |
+
"v_achieved_at_close_m": 0.007880201563239098,
|
| 18 |
+
"v_achieved_post_close_m": 0.04056661203503609,
|
| 19 |
+
"finger_torque_post_close_N": 97.01947021484375,
|
| 20 |
+
"finger_torque_hold_N": 21.273670196533203,
|
| 21 |
+
"v_cmd_max_m": 0.05000000074505806,
|
| 22 |
+
"v_achieved_max_m": 0.04999762400984764,
|
| 23 |
+
"finger_torque_max_N": 98.63729095458984,
|
| 24 |
+
"jaw_vs_brush_deg_at_close": 87.30941772460938,
|
| 25 |
+
"grasp_flag_ever": true,
|
| 26 |
+
"placed_flag_ever": false,
|
| 27 |
+
"brush_lift_max_m": 0.11976467818021774,
|
| 28 |
+
"brush_disp_max_m": 0.1199849545955658,
|
| 29 |
+
"box_disp_max_m": 5.122274160385132e-08,
|
| 30 |
+
"joint_err_max_deg": 9.223165512084961,
|
| 31 |
+
"joint_err_at_close_deg": 1.1114569902420044,
|
| 32 |
+
"seat_z_m": 0.0044970400631427765,
|
| 33 |
+
"seat_z_min_m": 0.003972791135311127,
|
| 34 |
+
"seat_overhang_m": 0.07681754976511002,
|
| 35 |
+
"seat_overhang_min_m": 0.07396320253610611,
|
| 36 |
+
"placed_in_slot_ever": false,
|
| 37 |
+
"pressed_to_seat_ever": false,
|
| 38 |
+
"seat_z_min_pressed_gap_m": null,
|
| 39 |
+
"carry_offset_jaw_axis_m": 0.004344902001321316,
|
| 40 |
+
"carry_offset_along_handle_m": 0.03263557329773903,
|
| 41 |
+
"carry_offset_jitter_m": 0.014751198701560497,
|
| 42 |
+
"press_force_hold_N": null,
|
| 43 |
+
"press_force_peak_N": null,
|
| 44 |
+
"press_torque_peak_Nm": null,
|
| 45 |
+
"press_force_frames": 0,
|
| 46 |
+
"cause": "picked the brush (lift 120 mm) but never set it down in the tray",
|
| 47 |
+
"geom": {
|
| 48 |
+
"gclose": 0.05,
|
| 49 |
+
"gscale": 0.5,
|
| 50 |
+
"grasp_xy": 0.06,
|
| 51 |
+
"grip_closed_width": 0.03,
|
| 52 |
+
"contact_travel": 0.0387,
|
| 53 |
+
"firm_travel": 0.055,
|
| 54 |
+
"brush_half_width": 0.006,
|
| 55 |
+
"jaw_axis": 0,
|
| 56 |
+
"reach_tol": 0.02,
|
| 57 |
+
"lift_tol": 0.02,
|
| 58 |
+
"tray_x": 0.224,
|
| 59 |
+
"tray_y": 0.141,
|
| 60 |
+
"slot_x": [
|
| 61 |
+
0.18965,
|
| 62 |
+
0.21565
|
| 63 |
+
],
|
| 64 |
+
"slot_y": [
|
| 65 |
+
0.01372,
|
| 66 |
+
0.12872
|
| 67 |
+
],
|
| 68 |
+
"slot_margin": 0.003,
|
| 69 |
+
"slot_seat_z": 0.03,
|
| 70 |
+
"slot_pressed_z": 0.027,
|
| 71 |
+
"press_force_min_N": 2.0,
|
| 72 |
+
"footprint_lo": [
|
| 73 |
+
-0.05652,
|
| 74 |
+
-0.00617,
|
| 75 |
+
-0.0117
|
| 76 |
+
],
|
| 77 |
+
"footprint_hi": [
|
| 78 |
+
0.05648,
|
| 79 |
+
0.00583,
|
| 80 |
+
0.0113
|
| 81 |
+
]
|
| 82 |
+
}
|
| 83 |
+
}
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/diag.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:30cc892eb3ff656caaaba716496a22f4b1ec825107ea6a30013daf47cf1d0b7a
|
| 3 |
+
size 114154
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/episode.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ed46f086c5e0d4f002f9086e463795e626c2427d1cca02d4f06b3b55bd84137a
|
| 3 |
+
size 1323364
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/grasp.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/meta.json
ADDED
|
@@ -0,0 +1,25 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "brush",
|
| 3 |
+
"prompt": "insert the brush into the box slot",
|
| 4 |
+
"source": "rollout",
|
| 5 |
+
"policy": "gpu-009-node-002:8000",
|
| 6 |
+
"run": "brush/0723_10",
|
| 7 |
+
"episode": 10,
|
| 8 |
+
"success": false,
|
| 9 |
+
"frames": 300,
|
| 10 |
+
"capture_hz": 30.0,
|
| 11 |
+
"action_chunk": null,
|
| 12 |
+
"exec_horizon": 25,
|
| 13 |
+
"control_hz": 30.0,
|
| 14 |
+
"camera_pix_fmt": {
|
| 15 |
+
"left_wrist_camera": "yuvj420p",
|
| 16 |
+
"right_wrist_camera": "yuvj420p",
|
| 17 |
+
"workspace_camera": "yuv420p"
|
| 18 |
+
},
|
| 19 |
+
"grip_mode": "raw",
|
| 20 |
+
"env_index": 10,
|
| 21 |
+
"wave": [
|
| 22 |
+
0,
|
| 23 |
+
15
|
| 24 |
+
]
|
| 25 |
+
}
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/pose.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/press.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010/traj.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep010_fail.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:746a543c6b0e039c74c20ef57bd7550ddcab6ab6e7866124a96c7183182e79d2
|
| 3 |
+
size 184336
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/diag.json
ADDED
|
@@ -0,0 +1,83 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"success": false,
|
| 3 |
+
"actions": 300,
|
| 4 |
+
"min_dist_m": 0.025196459144353867,
|
| 5 |
+
"t_min_dist_s": 2.2666666507720947,
|
| 6 |
+
"min_dist_xy_m": 0.01664351299405098,
|
| 7 |
+
"reached_grasp_xy": true,
|
| 8 |
+
"reached_tol": false,
|
| 9 |
+
"frac_time_near": 0.8166666666666667,
|
| 10 |
+
"closed_ever": true,
|
| 11 |
+
"closed_while_near": true,
|
| 12 |
+
"t_first_close_s": 2.0999999046325684,
|
| 13 |
+
"dist_at_close_m": 0.0327998623251915,
|
| 14 |
+
"jaw_axis_offset_at_close_m": 0.024566149339079857,
|
| 15 |
+
"approach_offset_at_close_m": -0.0052494206465780735,
|
| 16 |
+
"v_cmd_at_close_m": 0.05000000074505806,
|
| 17 |
+
"v_achieved_at_close_m": 0.0071609606966376305,
|
| 18 |
+
"v_achieved_post_close_m": 0.040218599140644073,
|
| 19 |
+
"finger_torque_post_close_N": 99.00547790527344,
|
| 20 |
+
"finger_torque_hold_N": 20.91878890991211,
|
| 21 |
+
"v_cmd_max_m": 0.05000000074505806,
|
| 22 |
+
"v_achieved_max_m": 0.040222153067588806,
|
| 23 |
+
"finger_torque_max_N": 99.00547790527344,
|
| 24 |
+
"jaw_vs_brush_deg_at_close": 88.56120300292969,
|
| 25 |
+
"grasp_flag_ever": true,
|
| 26 |
+
"placed_flag_ever": false,
|
| 27 |
+
"brush_lift_max_m": 0.12975922226905823,
|
| 28 |
+
"brush_disp_max_m": 0.1497393250465393,
|
| 29 |
+
"box_disp_max_m": 5.8673322200775146e-08,
|
| 30 |
+
"joint_err_max_deg": 9.766558647155762,
|
| 31 |
+
"joint_err_at_close_deg": 2.038766860961914,
|
| 32 |
+
"seat_z_m": 0.052108168601989746,
|
| 33 |
+
"seat_z_min_m": 0.003972759936004877,
|
| 34 |
+
"seat_overhang_m": 0.08800273388624191,
|
| 35 |
+
"seat_overhang_min_m": 0.08800273388624191,
|
| 36 |
+
"placed_in_slot_ever": false,
|
| 37 |
+
"pressed_to_seat_ever": false,
|
| 38 |
+
"seat_z_min_pressed_gap_m": null,
|
| 39 |
+
"carry_offset_jaw_axis_m": 0.0003105425275862217,
|
| 40 |
+
"carry_offset_along_handle_m": -0.023703575134277344,
|
| 41 |
+
"carry_offset_jitter_m": 1.0573464351182338e-05,
|
| 42 |
+
"press_force_hold_N": null,
|
| 43 |
+
"press_force_peak_N": null,
|
| 44 |
+
"press_torque_peak_Nm": null,
|
| 45 |
+
"press_force_frames": 0,
|
| 46 |
+
"cause": "picked the brush (lift 130 mm) but never set it down in the tray",
|
| 47 |
+
"geom": {
|
| 48 |
+
"gclose": 0.05,
|
| 49 |
+
"gscale": 0.5,
|
| 50 |
+
"grasp_xy": 0.06,
|
| 51 |
+
"grip_closed_width": 0.03,
|
| 52 |
+
"contact_travel": 0.0387,
|
| 53 |
+
"firm_travel": 0.055,
|
| 54 |
+
"brush_half_width": 0.006,
|
| 55 |
+
"jaw_axis": 0,
|
| 56 |
+
"reach_tol": 0.02,
|
| 57 |
+
"lift_tol": 0.02,
|
| 58 |
+
"tray_x": 0.224,
|
| 59 |
+
"tray_y": 0.141,
|
| 60 |
+
"slot_x": [
|
| 61 |
+
0.18965,
|
| 62 |
+
0.21565
|
| 63 |
+
],
|
| 64 |
+
"slot_y": [
|
| 65 |
+
0.01372,
|
| 66 |
+
0.12872
|
| 67 |
+
],
|
| 68 |
+
"slot_margin": 0.003,
|
| 69 |
+
"slot_seat_z": 0.03,
|
| 70 |
+
"slot_pressed_z": 0.027,
|
| 71 |
+
"press_force_min_N": 2.0,
|
| 72 |
+
"footprint_lo": [
|
| 73 |
+
-0.05652,
|
| 74 |
+
-0.00617,
|
| 75 |
+
-0.0117
|
| 76 |
+
],
|
| 77 |
+
"footprint_hi": [
|
| 78 |
+
0.05648,
|
| 79 |
+
0.00583,
|
| 80 |
+
0.0113
|
| 81 |
+
]
|
| 82 |
+
}
|
| 83 |
+
}
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/diag.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fa3633c2826ef84c3bf473c209f6aef200f97ce83465ab64111792f1f38d7bb8
|
| 3 |
+
size 118039
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/episode.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:56b802f78aa23225a6da0ed51ce75f5440a697114d913f7edbd31c8f0e1808be
|
| 3 |
+
size 1042924
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/grasp.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/meta.json
ADDED
|
@@ -0,0 +1,25 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "brush",
|
| 3 |
+
"prompt": "insert the brush into the box slot",
|
| 4 |
+
"source": "rollout",
|
| 5 |
+
"policy": "gpu-009-node-002:8000",
|
| 6 |
+
"run": "brush/0723_10",
|
| 7 |
+
"episode": 11,
|
| 8 |
+
"success": false,
|
| 9 |
+
"frames": 300,
|
| 10 |
+
"capture_hz": 30.0,
|
| 11 |
+
"action_chunk": null,
|
| 12 |
+
"exec_horizon": 25,
|
| 13 |
+
"control_hz": 30.0,
|
| 14 |
+
"camera_pix_fmt": {
|
| 15 |
+
"left_wrist_camera": "yuvj420p",
|
| 16 |
+
"right_wrist_camera": "yuvj420p",
|
| 17 |
+
"workspace_camera": "yuv420p"
|
| 18 |
+
},
|
| 19 |
+
"grip_mode": "raw",
|
| 20 |
+
"env_index": 11,
|
| 21 |
+
"wave": [
|
| 22 |
+
0,
|
| 23 |
+
15
|
| 24 |
+
]
|
| 25 |
+
}
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/pose.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/press.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011/traj.png
ADDED
|
Git LFS Details
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep011_fail.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:83c5ee97a7fe6a7418b01cacd1c1aca9a48b3a68b3a10711197bbb0cbd49062a
|
| 3 |
+
size 151358
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep012/diag.json
ADDED
|
@@ -0,0 +1,83 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"success": false,
|
| 3 |
+
"actions": 300,
|
| 4 |
+
"min_dist_m": 0.002511795377358794,
|
| 5 |
+
"t_min_dist_s": 2.133333444595337,
|
| 6 |
+
"min_dist_xy_m": 0.0020949600730091333,
|
| 7 |
+
"reached_grasp_xy": true,
|
| 8 |
+
"reached_tol": true,
|
| 9 |
+
"frac_time_near": 0.2866666666666667,
|
| 10 |
+
"closed_ever": true,
|
| 11 |
+
"closed_while_near": true,
|
| 12 |
+
"t_first_close_s": 2.1666667461395264,
|
| 13 |
+
"dist_at_close_m": 0.004069002345204353,
|
| 14 |
+
"jaw_axis_offset_at_close_m": -0.0009314032504335046,
|
| 15 |
+
"approach_offset_at_close_m": -0.002873258665204048,
|
| 16 |
+
"v_cmd_at_close_m": 0.05000000074505806,
|
| 17 |
+
"v_achieved_at_close_m": 0.006822970230132341,
|
| 18 |
+
"v_achieved_post_close_m": 0.04935937002301216,
|
| 19 |
+
"finger_torque_post_close_N": 100.0,
|
| 20 |
+
"finger_torque_hold_N": 3.9979946613311768,
|
| 21 |
+
"v_cmd_max_m": 0.05000000074505806,
|
| 22 |
+
"v_achieved_max_m": 0.049998462200164795,
|
| 23 |
+
"finger_torque_max_N": 100.0,
|
| 24 |
+
"jaw_vs_brush_deg_at_close": 86.29229736328125,
|
| 25 |
+
"grasp_flag_ever": true,
|
| 26 |
+
"placed_flag_ever": false,
|
| 27 |
+
"brush_lift_max_m": 0.0005267215892672539,
|
| 28 |
+
"brush_disp_max_m": 0.0032197784166783094,
|
| 29 |
+
"box_disp_max_m": 0.009216119535267353,
|
| 30 |
+
"joint_err_max_deg": 9.070903778076172,
|
| 31 |
+
"joint_err_at_close_deg": 1.637647032737732,
|
| 32 |
+
"seat_z_m": 0.003986721858382225,
|
| 33 |
+
"seat_z_min_m": 0.003972745966166258,
|
| 34 |
+
"seat_overhang_m": 0.11630339920520782,
|
| 35 |
+
"seat_overhang_min_m": 0.1053658202290535,
|
| 36 |
+
"placed_in_slot_ever": false,
|
| 37 |
+
"pressed_to_seat_ever": false,
|
| 38 |
+
"seat_z_min_pressed_gap_m": null,
|
| 39 |
+
"carry_offset_jaw_axis_m": null,
|
| 40 |
+
"carry_offset_along_handle_m": null,
|
| 41 |
+
"carry_offset_jitter_m": null,
|
| 42 |
+
"press_force_hold_N": null,
|
| 43 |
+
"press_force_peak_N": null,
|
| 44 |
+
"press_torque_peak_Nm": null,
|
| 45 |
+
"press_force_frames": 0,
|
| 46 |
+
"cause": "clamped but the brush never moved with it (lift 1 mm, travel reached 49.4 mm of the 50.0 mm commanded -- slipped)",
|
| 47 |
+
"geom": {
|
| 48 |
+
"gclose": 0.05,
|
| 49 |
+
"gscale": 0.5,
|
| 50 |
+
"grasp_xy": 0.06,
|
| 51 |
+
"grip_closed_width": 0.03,
|
| 52 |
+
"contact_travel": 0.0387,
|
| 53 |
+
"firm_travel": 0.055,
|
| 54 |
+
"brush_half_width": 0.006,
|
| 55 |
+
"jaw_axis": 0,
|
| 56 |
+
"reach_tol": 0.02,
|
| 57 |
+
"lift_tol": 0.02,
|
| 58 |
+
"tray_x": 0.224,
|
| 59 |
+
"tray_y": 0.141,
|
| 60 |
+
"slot_x": [
|
| 61 |
+
0.18965,
|
| 62 |
+
0.21565
|
| 63 |
+
],
|
| 64 |
+
"slot_y": [
|
| 65 |
+
0.01372,
|
| 66 |
+
0.12872
|
| 67 |
+
],
|
| 68 |
+
"slot_margin": 0.003,
|
| 69 |
+
"slot_seat_z": 0.03,
|
| 70 |
+
"slot_pressed_z": 0.027,
|
| 71 |
+
"press_force_min_N": 2.0,
|
| 72 |
+
"footprint_lo": [
|
| 73 |
+
-0.05652,
|
| 74 |
+
-0.00617,
|
| 75 |
+
-0.0117
|
| 76 |
+
],
|
| 77 |
+
"footprint_hi": [
|
| 78 |
+
0.05648,
|
| 79 |
+
0.00583,
|
| 80 |
+
0.0113
|
| 81 |
+
]
|
| 82 |
+
}
|
| 83 |
+
}
|
brush/0723_10/rollout_hz30_chunkall_exec25_gripraw_3x_34999_3/ep012/diag.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7e918d08a6399796f97d25f045b5afbe66e49e50fe142890f53e48861fb3546e
|
| 3 |
+
size 114799
|