Add files using upload-large-folder tool
Browse files- recovery.json +20 -0
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- rows/160_b278498042ae86a7/trajectory.json +0 -0
recovery.json
ADDED
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{
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"all_reproduced": true,
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"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
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"conversion_authorized": false,
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"divergences": [],
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"n_clean_success": 152,
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"n_complete": 152,
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"n_episode_steps_reproduced": 152,
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"n_frozen_rows": 152,
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"n_reproduced": 152,
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"n_requested": 152,
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"n_results": 152,
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"n_seed_reproduced": 152,
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"next_action": "run_verify_pact_place_recovery_keys",
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"output_root": "/root/prox_learning_pact_remediation/assets/datagen/pact_place_corridor_v2/recovered_152",
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"recovery_sha256": "a704bccf9bec8ae6d0ac377e64bd22e3e0688e7d4eaaea91e7ee19553651c2e8",
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"schema_version": "pact_place_v5_recovery_summary_v1",
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"source_collection_sha256": "b3c2c138961adfaa3525bed9f04d56aa3b3bccbdb13f6db1ae7c06824b1973b9",
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"training_authorized": false
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}
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rows/000_afbb545d73e5bc9d/initial_observation_accepted.json
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{
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"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
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"episode_id": "afbb545d73e5bc9d8fbf2b600ec84d95b34bb11ccdc70a9d780cd346db81b307",
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"initial_observation_accepted": true,
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"initial_robot_environment_contacts": [],
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"retry_index": 0,
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"row_sha256": "492bb328ef85be6ec74e4ac836466ac1560edfd0635c06856fdb16834b280389",
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"schema_version": "pact_place_recovery_boundary_v1",
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"seed": {
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"seed_u32": 3945073463,
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"seed_u64": 16943961506547021816
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}
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}
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rows/000_afbb545d73e5bc9d/result.json
ADDED
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|
| 1 |
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{
|
| 2 |
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"clean_success": true,
|
| 3 |
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"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
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| 4 |
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"contact_audit": {
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"added_contact_classes": [
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| 6 |
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"place_receptacle",
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| 7 |
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"clutter"
|
| 8 |
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],
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| 9 |
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"collision_free": true,
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| 10 |
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"contact_class_totals": {
|
| 11 |
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"clutter": 0,
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"grasp_target": 156546,
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"place_receptacle": 0
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| 16 |
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},
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| 17 |
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"contact_frame_payload_retained": false,
|
| 18 |
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"contact_frames": [],
|
| 19 |
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"contact_taxonomy_version": "pact_place_robot_environment_v2",
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| 20 |
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"first_contact_step": {
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| 21 |
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"clutter": null,
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| 22 |
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"grasp_target": 127,
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"hazard_bar": null,
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| 24 |
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"other_environment": null,
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"place_receptacle": null
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| 26 |
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},
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"frames_with_contact": {
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| 28 |
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"clutter": 0,
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"grasp_target": 11895,
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"hazard_bar": 0,
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| 31 |
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"other_environment": 0,
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| 32 |
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"place_receptacle": 0
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| 33 |
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},
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| 34 |
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"inbound_hazard_contact_frames": 0,
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| 35 |
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"legacy_contact_classes_unchanged": [
|
| 36 |
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"grasp_target",
|
| 37 |
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"hazard_bar",
|
| 38 |
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"other_environment"
|
| 39 |
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],
|
| 40 |
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"maximum_penetration_depth_m": {
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"clutter": 0.0,
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"grasp_target": 0.0004320758229269945,
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"hazard_bar": 0.0,
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"other_environment": 0.0,
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"place_receptacle": 0.0
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| 46 |
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},
|
| 47 |
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"non_target_contact_entries": 0,
|
| 48 |
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"outbound_hazard_contact_frames": 0,
|
| 49 |
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"phase_contact_class_totals": {
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| 50 |
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"inbound": {
|
| 51 |
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"clutter": 0,
|
| 52 |
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"grasp_target": 1289,
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"hazard_bar": 0,
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"other_environment": 0,
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"place_receptacle": 0
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| 56 |
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},
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"other": {
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"grasp_target": 0,
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"hazard_bar": 0,
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"other_environment": 0,
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|
| 454 |
+
"episode_00000000_wrist_camera.mp4",
|
| 455 |
+
"episode_00000000_wrist_camera_depth.mp4"
|
| 456 |
+
]
|
| 457 |
+
}
|
rows/000_afbb545d73e5bc9d/trajectory.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rows/001_53a9347a3718cc85/initial_observation_accepted.json
ADDED
|
@@ -0,0 +1,13 @@
|
|
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|
| 1 |
+
{
|
| 2 |
+
"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
|
| 3 |
+
"episode_id": "53a9347a3718cc856b86501255b55b6a5d17e399a0776bb46bf8243aa0bec286",
|
| 4 |
+
"initial_observation_accepted": true,
|
| 5 |
+
"initial_robot_environment_contacts": [],
|
| 6 |
+
"retry_index": 0,
|
| 7 |
+
"row_sha256": "3e5d3d65b41e6b371d34a86bc5a3a02fad238adb65acde986b6217a6970e4bec",
|
| 8 |
+
"schema_version": "pact_place_recovery_boundary_v1",
|
| 9 |
+
"seed": {
|
| 10 |
+
"seed_u32": 3539050463,
|
| 11 |
+
"seed_u64": 15200106000486209863
|
| 12 |
+
}
|
| 13 |
+
}
|
rows/001_53a9347a3718cc85/result.json
ADDED
|
@@ -0,0 +1,472 @@
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|
| 1 |
+
{
|
| 2 |
+
"clean_success": true,
|
| 3 |
+
"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
|
| 4 |
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"contact_audit": {
|
| 5 |
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"added_contact_classes": [
|
| 6 |
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"place_receptacle",
|
| 7 |
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"clutter"
|
| 8 |
+
],
|
| 9 |
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|
| 10 |
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|
| 11 |
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"clutter": 0,
|
| 12 |
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"grasp_target": 110820,
|
| 13 |
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"hazard_bar": 0,
|
| 14 |
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"other_environment": 0,
|
| 15 |
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"place_receptacle": 0
|
| 16 |
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},
|
| 17 |
+
"contact_frame_payload_retained": false,
|
| 18 |
+
"contact_frames": [],
|
| 19 |
+
"contact_taxonomy_version": "pact_place_robot_environment_v2",
|
| 20 |
+
"first_contact_step": {
|
| 21 |
+
"clutter": null,
|
| 22 |
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"grasp_target": 155,
|
| 23 |
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|
| 24 |
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"other_environment": null,
|
| 25 |
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"place_receptacle": null
|
| 26 |
+
},
|
| 27 |
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"frames_with_contact": {
|
| 28 |
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"clutter": 0,
|
| 29 |
+
"grasp_target": 8641,
|
| 30 |
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"hazard_bar": 0,
|
| 31 |
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"other_environment": 0,
|
| 32 |
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"place_receptacle": 0
|
| 33 |
+
},
|
| 34 |
+
"inbound_hazard_contact_frames": 0,
|
| 35 |
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"legacy_contact_classes_unchanged": [
|
| 36 |
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"grasp_target",
|
| 37 |
+
"hazard_bar",
|
| 38 |
+
"other_environment"
|
| 39 |
+
],
|
| 40 |
+
"maximum_penetration_depth_m": {
|
| 41 |
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"clutter": 0.0,
|
| 42 |
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"grasp_target": 0.0006008694569303881,
|
| 43 |
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"hazard_bar": 0.0,
|
| 44 |
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"other_environment": 0.0,
|
| 45 |
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"place_receptacle": 0.0
|
| 46 |
+
},
|
| 47 |
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"non_target_contact_entries": 0,
|
| 48 |
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"outbound_hazard_contact_frames": 0,
|
| 49 |
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"phase_contact_class_totals": {
|
| 50 |
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"inbound": {
|
| 51 |
+
"clutter": 0,
|
| 52 |
+
"grasp_target": 1814,
|
| 53 |
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|
| 54 |
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"other_environment": 0,
|
| 55 |
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"place_receptacle": 0
|
| 56 |
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},
|
| 57 |
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"other": {
|
| 58 |
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"clutter": 0,
|
| 59 |
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"grasp_target": 0,
|
| 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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"outbound": {
|
| 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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},
|
| 71 |
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"placement": {
|
| 72 |
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|
| 73 |
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"grasp_target": 18979,
|
| 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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"phase_frames_with_contact": {
|
| 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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|
| 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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"placement": {
|
| 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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"place_receptacle": 0
|
| 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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"place_receptacle_outside_placement_entries": 0,
|
| 112 |
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"sample_count": 15346,
|
| 113 |
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"sampling_level": "every_2ms_control_physics_step_plus_episode_boundaries"
|
| 114 |
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},
|
| 115 |
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"endpoint_scalars": {
|
| 116 |
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"endpoint_values_emitted_during_compaction": true,
|
| 117 |
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"object_end_position_m": [
|
| 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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"object_height_above_start_at_terminal_m": 2.8281858126533166e-06,
|
| 129 |
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"object_max_z_m": 0.9152216686236306,
|
| 130 |
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"object_start_position_m": [
|
| 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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"object_start_quat_xyzw": [
|
| 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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"object_to_receptacle_distance_m": 0.793761371443933,
|
| 142 |
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"settle_displacement_m": 0.0,
|
| 143 |
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"settle_window_steps": 25
|
| 144 |
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},
|
| 145 |
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"episode_id": "53a9347a3718cc856b86501255b55b6a5d17e399a0776bb46bf8243aa0bec286",
|
| 146 |
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"episode_steps": 465,
|
| 147 |
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"grasp_diagnostics": {
|
| 148 |
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"adjusted_grasp_object_local_position_m": [
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|
| 1 |
+
{
|
| 2 |
+
"clean_success": true,
|
| 3 |
+
"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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"place_receptacle",
|
| 7 |
+
"clutter"
|
| 8 |
+
],
|
| 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 |
+
},
|
| 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 |
+
},
|
| 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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| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 76 |
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| 77 |
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|
| 78 |
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| 79 |
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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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| 93 |
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| 94 |
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| 100 |
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| 101 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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}
|
| 108 |
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},
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"sampling_level": "every_2ms_control_physics_step_plus_episode_boundaries"
|
| 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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| 123 |
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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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| 136 |
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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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| 161 |
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| 162 |
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| 163 |
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},
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| 164 |
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}
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},
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],
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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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| 416 |
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|
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| 462 |
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"videos": [
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| 463 |
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|
| 464 |
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|
| 465 |
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"episode_00000000_wrist_camera_depth.mp4"
|
| 466 |
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]
|
| 467 |
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}
|
rows/053_dbb6417e18da7f33/trajectory.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rows/054_bbf60fa70efddc10/initial_observation_accepted.json
ADDED
|
@@ -0,0 +1,13 @@
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| 1 |
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{
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"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
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"episode_id": "bbf60fa70efddc104d8d51aea49ee87cca97c45a9fc93b67bee4f6ebbeef0936",
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| 4 |
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"initial_observation_accepted": true,
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"initial_robot_environment_contacts": [],
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"retry_index": 0,
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"row_sha256": "78b76441cffa9fd32912499a933e38430e0c04ca64963570e655c1d54f40a59d",
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"schema_version": "pact_place_recovery_boundary_v1",
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| 9 |
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"seed": {
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| 12 |
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}
|
| 13 |
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}
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rows/054_bbf60fa70efddc10/result.json
ADDED
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@@ -0,0 +1,477 @@
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|
| 1 |
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{
|
| 2 |
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"clean_success": true,
|
| 3 |
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"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
|
| 4 |
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"contact_audit": {
|
| 5 |
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"added_contact_classes": [
|
| 6 |
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"place_receptacle",
|
| 7 |
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"clutter"
|
| 8 |
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],
|
| 9 |
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"collision_free": true,
|
| 10 |
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"contact_class_totals": {
|
| 11 |
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"clutter": 0,
|
| 12 |
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"grasp_target": 117950,
|
| 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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"contact_frame_payload_retained": false,
|
| 18 |
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"contact_frames": [],
|
| 19 |
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"contact_taxonomy_version": "pact_place_robot_environment_v2",
|
| 20 |
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"first_contact_step": {
|
| 21 |
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"clutter": null,
|
| 22 |
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"grasp_target": 162,
|
| 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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"frames_with_contact": {
|
| 28 |
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"clutter": 0,
|
| 29 |
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"grasp_target": 8941,
|
| 30 |
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|
| 31 |
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|
| 32 |
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"place_receptacle": 0
|
| 33 |
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},
|
| 34 |
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"inbound_hazard_contact_frames": 0,
|
| 35 |
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"legacy_contact_classes_unchanged": [
|
| 36 |
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"grasp_target",
|
| 37 |
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"hazard_bar",
|
| 38 |
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"other_environment"
|
| 39 |
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],
|
| 40 |
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"maximum_penetration_depth_m": {
|
| 41 |
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"clutter": 0.0,
|
| 42 |
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|
| 43 |
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|
| 44 |
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|
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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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| 456 |
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| 464 |
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| 465 |
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|
| 466 |
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|
| 467 |
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},
|
| 468 |
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"trajectory_json_path": "/root/prox_learning_pact_remediation/assets/datagen/pact_place_corridor_v2/recovered_152/rows/054_bbf60fa70efddc10/trajectory.json",
|
| 469 |
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"trajectory_json_sha256": "5cfd975f14e9febbcf6f025665b5ae2728b588cf8b9e50586f02ada42387de9a",
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| 470 |
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|
| 471 |
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"trajectory_path": "/root/prox_learning_pact_remediation/assets/datagen/pact_place_corridor_v2/recovered_152/rows/054_bbf60fa70efddc10/trajectory.h5",
|
| 472 |
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"videos": [
|
| 473 |
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|
| 474 |
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"episode_00000000_wrist_camera.mp4",
|
| 475 |
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"episode_00000000_wrist_camera_depth.mp4"
|
| 476 |
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]
|
| 477 |
+
}
|
rows/054_bbf60fa70efddc10/trajectory.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rows/057_f3665f6a5bff6337/result.json
ADDED
|
@@ -0,0 +1,467 @@
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|
| 1 |
+
{
|
| 2 |
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"clean_success": true,
|
| 3 |
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"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
|
| 4 |
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"contact_audit": {
|
| 5 |
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"added_contact_classes": [
|
| 6 |
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"place_receptacle",
|
| 7 |
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"clutter"
|
| 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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"contact_frame_payload_retained": false,
|
| 18 |
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"contact_frames": [],
|
| 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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| 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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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 77 |
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|
| 78 |
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| 79 |
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|
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| 81 |
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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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| 92 |
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| 93 |
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| 94 |
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| 96 |
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| 99 |
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| 100 |
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|
| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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|
| 107 |
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}
|
| 108 |
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},
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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},
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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| 120 |
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| 122 |
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| 123 |
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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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| 135 |
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| 136 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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},
|
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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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"place_receptacle",
|
| 7 |
+
"clutter"
|
| 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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|
| 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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| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 77 |
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| 78 |
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| 79 |
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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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| 93 |
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| 106 |
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| 107 |
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|
| 108 |
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},
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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| 114 |
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},
|
| 115 |
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| 116 |
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| 127 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 161 |
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| 162 |
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| 163 |
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rows/092_8f585e1d7328c538/initial_observation_accepted.json
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rows/092_8f585e1d7328c538/result.json
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| 1 |
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| 2 |
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0.24,
|
| 411 |
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0.09
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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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| 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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},
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| 422 |
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| 423 |
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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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| 433 |
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| 434 |
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| 438 |
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| 441 |
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| 442 |
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| 443 |
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| 445 |
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| 446 |
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|
| 459 |
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|
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|
| 461 |
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|
| 462 |
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},
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| 463 |
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| 467 |
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"videos": [
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| 468 |
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|
| 469 |
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|
| 470 |
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"episode_00000000_wrist_camera_depth.mp4"
|
| 471 |
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]
|
| 472 |
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}
|
rows/092_8f585e1d7328c538/trajectory.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rows/102_8167f3fa180a7272/initial_observation_accepted.json
ADDED
|
@@ -0,0 +1,13 @@
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| 1 |
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{
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"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
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"episode_id": "8167f3fa180a7272370d9fa383a05ad167653282737df8cf3aca1f606c5dfd88",
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| 4 |
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"initial_observation_accepted": true,
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| 5 |
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"initial_robot_environment_contacts": [],
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| 6 |
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"retry_index": 0,
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"row_sha256": "d4598afe2e53da11d88941374951379b24b76631860006aac6cd50f4760fdba1",
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"schema_version": "pact_place_recovery_boundary_v1",
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| 9 |
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"seed": {
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| 10 |
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| 11 |
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| 12 |
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}
|
| 13 |
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}
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rows/102_8167f3fa180a7272/result.json
ADDED
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@@ -0,0 +1,472 @@
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|
| 1 |
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{
|
| 2 |
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"clean_success": true,
|
| 3 |
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"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
|
| 4 |
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"contact_audit": {
|
| 5 |
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"added_contact_classes": [
|
| 6 |
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"place_receptacle",
|
| 7 |
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"clutter"
|
| 8 |
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],
|
| 9 |
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"collision_free": true,
|
| 10 |
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"contact_class_totals": {
|
| 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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"contact_frame_payload_retained": false,
|
| 18 |
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"contact_frames": [],
|
| 19 |
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"contact_taxonomy_version": "pact_place_robot_environment_v2",
|
| 20 |
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"first_contact_step": {
|
| 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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"frames_with_contact": {
|
| 28 |
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|
| 29 |
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"grasp_target": 13377,
|
| 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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"legacy_contact_classes_unchanged": [
|
| 36 |
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"grasp_target",
|
| 37 |
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"hazard_bar",
|
| 38 |
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"other_environment"
|
| 39 |
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],
|
| 40 |
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"maximum_penetration_depth_m": {
|
| 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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"non_target_contact_entries": 0,
|
| 48 |
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|
| 49 |
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"phase_contact_class_totals": {
|
| 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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|
| 68 |
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|
| 69 |
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|
| 70 |
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},
|
| 71 |
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"placement": {
|
| 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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"phase_frames_with_contact": {
|
| 80 |
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|
| 81 |
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"clutter": 0,
|
| 82 |
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"grasp_target": 210,
|
| 83 |
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|
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|
|
rows/105_04987bc86ac9261a/initial_observation_accepted.json
ADDED
|
@@ -0,0 +1,13 @@
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| 1 |
+
{
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| 2 |
+
"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
|
| 3 |
+
"episode_id": "04987bc86ac9261a3321cbbcfc3061299ec9e5215f5af7b4f248adbe75a05f1c",
|
| 4 |
+
"initial_observation_accepted": true,
|
| 5 |
+
"initial_robot_environment_contacts": [],
|
| 6 |
+
"retry_index": 1,
|
| 7 |
+
"row_sha256": "3319bb89611f30bdec6941cc5d135e393e05e319be835652204ecb4596620893",
|
| 8 |
+
"schema_version": "pact_place_recovery_boundary_v1",
|
| 9 |
+
"seed": {
|
| 10 |
+
"seed_u32": 1451649329,
|
| 11 |
+
"seed_u64": 6234786393894296643
|
| 12 |
+
}
|
| 13 |
+
}
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rows/105_04987bc86ac9261a/result.json
ADDED
|
@@ -0,0 +1,476 @@
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"clean_success": true,
|
| 3 |
+
"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
|
| 4 |
+
"contact_audit": {
|
| 5 |
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"added_contact_classes": [
|
| 6 |
+
"place_receptacle",
|
| 7 |
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"clutter"
|
| 8 |
+
],
|
| 9 |
+
"collision_free": true,
|
| 10 |
+
"contact_class_totals": {
|
| 11 |
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"clutter": 0,
|
| 12 |
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"grasp_target": 110198,
|
| 13 |
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"hazard_bar": 0,
|
| 14 |
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"other_environment": 0,
|
| 15 |
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"place_receptacle": 0
|
| 16 |
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},
|
| 17 |
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"contact_frame_payload_retained": false,
|
| 18 |
+
"contact_frames": [],
|
| 19 |
+
"contact_taxonomy_version": "pact_place_robot_environment_v2",
|
| 20 |
+
"first_contact_step": {
|
| 21 |
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"clutter": null,
|
| 22 |
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"grasp_target": 130,
|
| 23 |
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"hazard_bar": null,
|
| 24 |
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"other_environment": null,
|
| 25 |
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"place_receptacle": null
|
| 26 |
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},
|
| 27 |
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"frames_with_contact": {
|
| 28 |
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"clutter": 0,
|
| 29 |
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"grasp_target": 8838,
|
| 30 |
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"hazard_bar": 0,
|
| 31 |
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"other_environment": 0,
|
| 32 |
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"place_receptacle": 0
|
| 33 |
+
},
|
| 34 |
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"inbound_hazard_contact_frames": 0,
|
| 35 |
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"legacy_contact_classes_unchanged": [
|
| 36 |
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"grasp_target",
|
| 37 |
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"hazard_bar",
|
| 38 |
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"other_environment"
|
| 39 |
+
],
|
| 40 |
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"maximum_penetration_depth_m": {
|
| 41 |
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"clutter": 0.0,
|
| 42 |
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"grasp_target": 0.0007463957000746786,
|
| 43 |
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"hazard_bar": 0.0,
|
| 44 |
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"other_environment": 0.0,
|
| 45 |
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"place_receptacle": 0.0
|
| 46 |
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},
|
| 47 |
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"non_target_contact_entries": 0,
|
| 48 |
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"outbound_hazard_contact_frames": 0,
|
| 49 |
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"phase_contact_class_totals": {
|
| 50 |
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"inbound": {
|
| 51 |
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"clutter": 0,
|
| 52 |
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"grasp_target": 1349,
|
| 53 |
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"hazard_bar": 0,
|
| 54 |
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"other_environment": 0,
|
| 55 |
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"place_receptacle": 0
|
| 56 |
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},
|
| 57 |
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"other": {
|
| 58 |
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"clutter": 0,
|
| 59 |
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"grasp_target": 0,
|
| 60 |
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"hazard_bar": 0,
|
| 61 |
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"other_environment": 0,
|
| 62 |
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"place_receptacle": 0
|
| 63 |
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},
|
| 64 |
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"outbound": {
|
| 65 |
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"clutter": 0,
|
| 66 |
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"grasp_target": 93446,
|
| 67 |
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"hazard_bar": 0,
|
| 68 |
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"other_environment": 0,
|
| 69 |
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"place_receptacle": 0
|
| 70 |
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},
|
| 71 |
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"placement": {
|
| 72 |
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"clutter": 0,
|
| 73 |
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"grasp_target": 15403,
|
| 74 |
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"hazard_bar": 0,
|
| 75 |
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"other_environment": 0,
|
| 76 |
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"place_receptacle": 0
|
| 77 |
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}
|
| 78 |
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},
|
| 79 |
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"phase_frames_with_contact": {
|
| 80 |
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"inbound": {
|
| 81 |
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"clutter": 0,
|
| 82 |
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"grasp_target": 281,
|
| 83 |
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"hazard_bar": 0,
|
| 84 |
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"other_environment": 0,
|
| 85 |
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"place_receptacle": 0
|
| 86 |
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},
|
| 87 |
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"other": {
|
| 88 |
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"clutter": 0,
|
| 89 |
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|
| 90 |
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|
| 91 |
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"other_environment": 0,
|
| 92 |
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"place_receptacle": 0
|
| 93 |
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},
|
| 94 |
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"outbound": {
|
| 95 |
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"clutter": 0,
|
| 96 |
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"grasp_target": 7159,
|
| 97 |
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"hazard_bar": 0,
|
| 98 |
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"other_environment": 0,
|
| 99 |
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"place_receptacle": 0
|
| 100 |
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},
|
| 101 |
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"placement": {
|
| 102 |
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"clutter": 0,
|
| 103 |
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"grasp_target": 1398,
|
| 104 |
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"hazard_bar": 0,
|
| 105 |
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"other_environment": 0,
|
| 106 |
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"place_receptacle": 0
|
| 107 |
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}
|
| 108 |
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},
|
| 109 |
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"place_receptacle_contact_exempt": false,
|
| 110 |
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"place_receptacle_exempt_during_placement_including_preplace": true,
|
| 111 |
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"place_receptacle_outside_placement_entries": 0,
|
| 112 |
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"sample_count": 14620,
|
| 113 |
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"sampling_level": "every_2ms_control_physics_step_plus_episode_boundaries"
|
| 114 |
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},
|
| 115 |
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"endpoint_scalars": {
|
| 116 |
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"endpoint_values_emitted_during_compaction": true,
|
| 117 |
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"object_end_position_m": [
|
| 118 |
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|
| 119 |
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0.3284652478291788,
|
| 120 |
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|
| 121 |
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],
|
| 122 |
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"object_end_quat_xyzw": [
|
| 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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"object_height_above_start_at_terminal_m": 3.5491865308934223e-06,
|
| 129 |
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"object_max_z_m": 0.889257348330775,
|
| 130 |
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"object_start_position_m": [
|
| 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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"object_start_quat_xyzw": [
|
| 136 |
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|
| 137 |
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|
| 138 |
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0.597924932956107,
|
| 139 |
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|
| 140 |
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],
|
| 141 |
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"object_to_receptacle_distance_m": 0.7938405438814844,
|
| 142 |
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"settle_displacement_m": 0.0,
|
| 143 |
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"settle_window_steps": 25
|
| 144 |
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},
|
| 145 |
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"episode_id": "04987bc86ac9261a3321cbbcfc3061299ec9e5215f5af7b4f248adbe75a05f1c",
|
| 146 |
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"episode_steps": 443,
|
| 147 |
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"grasp_diagnostics": {
|
| 148 |
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"adjusted_grasp_object_local_position_m": [
|
| 149 |
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|
| 150 |
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0.04830932617187489,
|
| 151 |
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0.02275085449218761
|
| 152 |
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],
|
| 153 |
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"adjusted_grasp_world_position_m": [
|
| 154 |
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|
| 1 |
+
{
|
| 2 |
+
"clean_success": true,
|
| 3 |
+
"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
|
| 4 |
+
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|
| 5 |
+
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|
| 6 |
+
"place_receptacle",
|
| 7 |
+
"clutter"
|
| 8 |
+
],
|
| 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 |
+
},
|
| 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 |
+
},
|
| 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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| 68 |
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| 69 |
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|
| 70 |
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|
| 71 |
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| 73 |
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| 76 |
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| 77 |
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}
|
| 78 |
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},
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| 79 |
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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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| 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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| 99 |
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| 100 |
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|
| 101 |
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| 103 |
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| 104 |
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| 106 |
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| 107 |
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}
|
| 108 |
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},
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"sampling_level": "every_2ms_control_physics_step_plus_episode_boundaries"
|
| 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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| 123 |
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| 124 |
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| 125 |
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| 127 |
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|
| 128 |
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|
| 129 |
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|
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| 131 |
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| 132 |
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| 136 |
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| 137 |
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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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|
| 161 |
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|
| 162 |
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| 163 |
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| 386 |
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| 390 |
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| 391 |
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| 392 |
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| 393 |
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| 395 |
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| 426 |
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| 472 |
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"videos": [
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| 473 |
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| 474 |
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|
| 475 |
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| 476 |
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]
|
| 477 |
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}
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rows/153_8573cf9bd78e05be/trajectory.json
ADDED
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The diff for this file is too large to render.
See raw diff
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rows/160_b278498042ae86a7/initial_observation_accepted.json
ADDED
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@@ -0,0 +1,13 @@
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| 1 |
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{
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"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
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"episode_id": "b278498042ae86a75f02e6a644faf4503cac9957ac5c54c4f0be44fa130fc1f9",
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| 4 |
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"initial_observation_accepted": true,
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"initial_robot_environment_contacts": [],
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"retry_index": 1,
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"row_sha256": "f2a688883c86c12f5b004084bda3d20fc9faf40a9f46fc7f853948cc4d9d628e",
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"schema_version": "pact_place_recovery_boundary_v1",
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| 9 |
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"seed": {
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| 12 |
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}
|
| 13 |
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}
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rows/160_b278498042ae86a7/result.json
ADDED
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@@ -0,0 +1,476 @@
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|
| 1 |
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{
|
| 2 |
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"clean_success": true,
|
| 3 |
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"config_sha256": "125db9ac9f1eafcbbf9ce5a741d2c684a410d46da662ce55a99de3965bf7b9ac",
|
| 4 |
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"contact_audit": {
|
| 5 |
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"added_contact_classes": [
|
| 6 |
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"place_receptacle",
|
| 7 |
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"clutter"
|
| 8 |
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],
|
| 9 |
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"collision_free": true,
|
| 10 |
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"contact_class_totals": {
|
| 11 |
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"clutter": 0,
|
| 12 |
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"grasp_target": 159280,
|
| 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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"contact_frame_payload_retained": false,
|
| 18 |
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"contact_frames": [],
|
| 19 |
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"contact_taxonomy_version": "pact_place_robot_environment_v2",
|
| 20 |
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"first_contact_step": {
|
| 21 |
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"clutter": null,
|
| 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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"frames_with_contact": {
|
| 28 |
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"clutter": 0,
|
| 29 |
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"grasp_target": 12430,
|
| 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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"inbound_hazard_contact_frames": 0,
|
| 35 |
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"legacy_contact_classes_unchanged": [
|
| 36 |
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"grasp_target",
|
| 37 |
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"hazard_bar",
|
| 38 |
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"other_environment"
|
| 39 |
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],
|
| 40 |
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"maximum_penetration_depth_m": {
|
| 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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"place_receptacle": 0.0
|
| 46 |
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},
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"gripper_joint_posadr": [
|
| 449 |
+
7,
|
| 450 |
+
10
|
| 451 |
+
],
|
| 452 |
+
"inter_finger_dist_m": 0.08663927536724063,
|
| 453 |
+
"inter_finger_dist_range0_m": 0.0,
|
| 454 |
+
"is_holding_object": false,
|
| 455 |
+
"object_to_tcp_distance_m": 0.10259943058971464,
|
| 456 |
+
"object_to_tcp_offset_m": [
|
| 457 |
+
0.008844167237564149,
|
| 458 |
+
0.02783580838778882,
|
| 459 |
+
-0.09835441848034066
|
| 460 |
+
],
|
| 461 |
+
"pos_err_predicate": false,
|
| 462 |
+
"rot_err_predicate": false,
|
| 463 |
+
"rotation_error_deg": null,
|
| 464 |
+
"rotation_error_rad": null,
|
| 465 |
+
"sequential_ik_failures": 0
|
| 466 |
+
},
|
| 467 |
+
"trajectory_json_path": "/root/prox_learning_pact_remediation/assets/datagen/pact_place_corridor_v2/recovered_152/rows/160_b278498042ae86a7/trajectory.json",
|
| 468 |
+
"trajectory_json_sha256": "735d5fda95ed41fc3b23a69e8cd822d74988e3b7e897b9a92d8d65da801d7e24",
|
| 469 |
+
"trajectory_n": 570,
|
| 470 |
+
"trajectory_path": "/root/prox_learning_pact_remediation/assets/datagen/pact_place_corridor_v2/recovered_152/rows/160_b278498042ae86a7/trajectory.h5",
|
| 471 |
+
"videos": [
|
| 472 |
+
"episode_00000000_sensors_depth8_heatmap.mp4",
|
| 473 |
+
"episode_00000000_wrist_camera.mp4",
|
| 474 |
+
"episode_00000000_wrist_camera_depth.mp4"
|
| 475 |
+
]
|
| 476 |
+
}
|
rows/160_b278498042ae86a7/trajectory.json
ADDED
|
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|
|