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BimanualPutSpatulaOnTableFromUtensilCrock/2025-06-28T02-57-05+00-00/diffusion_spartan/episode_46/processed/actions.npz

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BimanualPutSpatulaOnTableFromUtensilCrock/2025-06-28T02-57-05+00-00/diffusion_spartan/episode_46/processed/metadata.yaml

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+augmentation_types: null
+camera_id_to_semantic_name: {6CD146030AFC: wrist_right_minus, 6CD146030B09: wrist_left_plus,
+  6CD146030E96: scene_right_0, 6CD146030E9E: scene_left_0}
+episode_end_time: '2025-06-27T23:56:05.343417-04:00'
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+final_timestamp: null
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+git_sha: 531c224f17ca91de5eed7245b7ceb12afd6fdd19
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+skills:
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+source_episode: null
+station_name: riverway
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+directives:
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/franka_station/riverway_station.sdf
+    name: riverway_station
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+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/franka_station/station_table_top_compliant.sdf
+    name: manipuland_table
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+      translation: [0.0, 0.0, 0.0]
+    name: manipuland_table::table_top_center
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+- add_frame:
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+      rotation: !Rpy
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+      translation: [0.0, 0.0, 0.147]
+    name: riverway_station::table_cart_weld_to_frame
+- add_weld: {child: table_cart_weld_to_frame, parent: 'manipuland_table::table_top_center'}
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+      rotation: !Rpy
+        deg: [0.0, 0.0, 0.0]
+      translation: [0.0, 0.0, 0.0]
+    name: manipuland_table::task_frame
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/franka_station/station_arm_cart_gantry.sdf
+    name: riverway_station_arm_cart_gantry_right
+- add_frame:
+    X_PF:
+      base_frame: riverway_station::station_arm_cart_right
+      rotation: !Rpy
+        deg: [0.0, 0.0, 0.0]
+      translation: [0.0, -0.012, 0.0]
+    name: riverway_station::right_arm_cart_gantry_weld_frame
+- add_weld: {child: 'riverway_station_arm_cart_gantry_right::station_arm_cart_gantry',
+    parent: right_arm_cart_gantry_weld_frame}
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/franka_station/station_gantry_base_plate.sdf
+    name: riverway_station_gantry_base_plate_right
+- add_frame:
+    X_PF:
+      base_frame: riverway_station_arm_cart_gantry_right::station_arm_cart_gantry
+      rotation: !Rpy
+        deg: [0.0, 0.0, 0.0]
+      translation: [0.185, 0.0, 0.041]
+    name: riverway_station_arm_cart_gantry_right::gantry_base_plate_weld_frame_right
+- add_weld: {child: 'riverway_station_gantry_base_plate_right::station_gantry_base_plate',
+    parent: gantry_base_plate_weld_frame_right}
+- add_model_instance: {name: right}
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://drake_models/franka_description/urdf/panda_arm.urdf
+    name: right::panda
+- add_frame:
+    X_PF:
+      base_frame: right::panda::panda_link0
+      rotation: {}
+      translation: [0.0, 0.0, 0.0]
+    name: right::panda::origin
+- add_frame:
+    X_PF:
+      base_frame: right::panda::panda_link8
+      rotation: !Rpy
+        deg: [0.0, 0.0, -45.0]
+      translation: [0.0, 0.0, 0.0]
+    name: right::panda::flange_rotated
+- add_frame:
+    X_PF:
+      base_frame: right::panda::flange_rotated
+      rotation: !Rpy
+        deg: [180.0, 0.0, 90.0]
+      translation: [0.0, 0.0, 0.0]
+    name: right::panda::wrist_semantic_frame
+- add_collision_filter_group:
+    ignored_collision_filter_groups: []
+    member_groups: []
+    members: ['panda::panda_link5', 'panda::panda_link6', 'panda::panda_link7']
+    model_namespace: right
+    name: panda_wrist_filter_group
+- add_frame:
+    X_PF:
+      base_frame: right::panda::origin
+      rotation: !Rpy
+        deg: [-0.8804, -1.7438, 42.9643]
+      translation: [0.6586, 0.1647, 0.1038]
+    name: right::panda::_manipuland_table_top_center_from_right_panda
+- add_weld: {child: _manipuland_table_top_center_from_right_panda, parent: 'manipuland_table::table_top_center'}
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/franka_station/station_arm_cart_gantry.sdf
+    name: riverway_station_arm_cart_gantry_left
+- add_frame:
+    X_PF:
+      base_frame: riverway_station::station_arm_cart_left
+      rotation: !Rpy
+        deg: [0.0, 0.0, 0.0]
+      translation: [0.0, -0.019, 0.0]
+    name: riverway_station::left_arm_cart_gantry_weld_frame
+- add_weld: {child: 'riverway_station_arm_cart_gantry_left::station_arm_cart_gantry',
+    parent: left_arm_cart_gantry_weld_frame}
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/franka_station/station_gantry_base_plate.sdf
+    name: riverway_station_gantry_base_plate_left
+- add_frame:
+    X_PF:
+      base_frame: riverway_station_arm_cart_gantry_left::station_arm_cart_gantry
+      rotation: !Rpy
+        deg: [0.0, 0.0, 0.0]
+      translation: [-0.1675, 0.0, 0.041]
+    name: riverway_station_arm_cart_gantry_left::gantry_base_plate_weld_frame_left
+- add_weld: {child: 'riverway_station_gantry_base_plate_left::station_gantry_base_plate',
+    parent: gantry_base_plate_weld_frame_left}
+- add_model_instance: {name: left}
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://drake_models/franka_description/urdf/panda_arm.urdf
+    name: left::panda
+- add_frame:
+    X_PF:
+      base_frame: left::panda::panda_link0
+      rotation: {}
+      translation: [0.0, 0.0, 0.0]
+    name: left::panda::origin
+- add_frame:
+    X_PF:
+      base_frame: left::panda::panda_link8
+      rotation: !Rpy
+        deg: [0.0, 0.0, -45.0]
+      translation: [0.0, 0.0, 0.0]
+    name: left::panda::flange_rotated
+- add_frame:
+    X_PF:
+      base_frame: left::panda::flange_rotated
+      rotation: !Rpy
+        deg: [180.0, 0.0, 90.0]
+      translation: [0.0, 0.0, 0.0]
+    name: left::panda::wrist_semantic_frame
+- add_collision_filter_group:
+    ignored_collision_filter_groups: []
+    member_groups: []
+    members: ['panda::panda_link5', 'panda::panda_link6', 'panda::panda_link7']
+    model_namespace: left
+    name: panda_wrist_filter_group
+- add_frame:
+    X_PF:
+      base_frame: left::panda::origin
+      rotation: !Rpy
+        deg: [-0.35, -1.1269, -46.796]
+      translation: [0.6561, -0.1959, 0.0944]
+    name: left::panda::_manipuland_table_top_center_from_left_panda
+- add_weld: {child: _manipuland_table_top_center_from_left_panda, parent: 'manipuland_table::table_top_center'}
+- add_frame:
+    X_PF:
+      base_frame: manipuland_table::table_top_center
+      rotation: !Rpy
+        deg: [-144.02622026208346, 7.175918743777246, 99.05897849355833]
+      translation: [0.5475459165740518, 0.18739323059527133, 0.8359720915694936]
+    name: manipuland_table::camera_6CD146030E96
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/cameras/d415_simple.sdf
+    name: camera_6CD146030E96_model
+- add_weld: {child: 'camera_6CD146030E96_model::rgb', parent: camera_6CD146030E96}
+- add_frame:
+    X_PF:
+      base_frame: manipuland_table::table_top_center
+      rotation: !Rpy
+        deg: [-143.5224306152587, -17.515017743503677, 73.93604661555008]
+      translation: [0.4971372129776017, -0.36177129391458523, 0.7787723308545904]
+    name: manipuland_table::camera_6CD146030E9E
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/cameras/d415_simple.sdf
+    name: camera_6CD146030E9E_model
+- add_weld: {child: 'camera_6CD146030E9E_model::rgb', parent: camera_6CD146030E9E}
+- add_frame:
+    X_PF:
+      base_frame: right::panda::panda_link8
+      rotation: !Rpy
+        deg: [-20.0, 0.0, -135.0]
+      translation: [-0.05, 0.05, 0.01]
+    name: right::panda::camera_6CD146030AFC
+- add_frame:
+    X_PF:
+      base_frame: left::panda::panda_link8
+      rotation: !Rpy
+        deg: [-20.0, 0.0, 45.0]
+      translation: [0.05, -0.05, 0.01]
+    name: left::panda::camera_6CD146030B09
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/gripper_assemblies/panda_hand_finray_actuated_mesh_mimic.urdf
+    name: right::panda_hand
+- add_frame:
+    X_PF:
+      base_frame: right::panda::panda_link8
+      rotation: !Rpy
+        deg: [0.0, 0.0, -45.0]
+      translation: [0.0, 0.0, 0.0]
+    name: right::panda_hand::_origin
+- add_weld: {child: 'right::panda_hand::panda_hand', parent: 'right::panda_hand::_origin'}
+- add_frame:
+    X_PF:
+      base_frame: right::panda_hand::panda_finger_tip_center
+      rotation: !Rpy
+        deg: [180.0, 0.0, 0.0]
+      translation: [0.0, 0.0, 0.0]
+    name: right::panda_hand::grasp_frame
+- add_frame:
+    X_PF:
+      base_frame: right::panda_hand::panda_hand
+      rotation: !Rpy
+        deg: [0.0, 0.0, 0.0]
+      translation: [0.0, 0.0, 0.0704]
+    name: right::panda_hand::finger_screw
+- add_frame:
+    X_PF:
+      base_frame: right::panda_hand::finger_screw
+      rotation: !Rpy
+        deg: [0.0, 0.0, 0.0]
+      translation: [0.0, 0.0, 0.024]
+    name: right::panda_hand::calib_tip
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/gripper_assemblies/panda_hand_finray_actuated_mesh_mimic.urdf
+    name: left::panda_hand
+- add_frame:
+    X_PF:
+      base_frame: left::panda::panda_link8
+      rotation: !Rpy
+        deg: [0.0, 0.0, -45.0]
+      translation: [0.0, 0.0, 0.0]
+    name: left::panda_hand::_origin
+- add_weld: {child: 'left::panda_hand::panda_hand', parent: 'left::panda_hand::_origin'}
+- add_frame:
+    X_PF:
+      base_frame: left::panda_hand::panda_finger_tip_center
+      rotation: !Rpy
+        deg: [180.0, 0.0, 0.0]
+      translation: [0.0, 0.0, 0.0]
+    name: left::panda_hand::grasp_frame
+- add_frame:
+    X_PF:
+      base_frame: left::panda_hand::panda_hand
+      rotation: !Rpy
+        deg: [0.0, 0.0, 0.0]
+      translation: [0.0, 0.0, 0.0704]
+    name: left::panda_hand::finger_screw
+- add_frame:
+    X_PF:
+      base_frame: left::panda_hand::finger_screw
+      rotation: !Rpy
+        deg: [0.0, 0.0, 0.0]
+      translation: [0.0, 0.0, 0.024]
+    name: left::panda_hand::calib_tip
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/home_kitchen/accessories/slnihams_bamboo_utensil_crock.sdf
+    name: utensil_crock
+- add_weld:
+    X_PC:
+      rotation: {}
+      translation: [0.0045990047581452725, -0.10237091561202191, 0.0]
+    child: utensil_crock::origin
+    parent: manipuland_table::origin
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/home_kitchen/accessories/sweet_home_dish_drying_rack_base.sdf
+    name: drying_rack_base
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/home_kitchen/accessories/sweet_home_dish_drying_rack_wireframe.sdf
+    name: drying_rack_wireframe
+- add_weld: {child: 'drying_rack_wireframe::origin', parent: 'drying_rack_base::nominal_wireframe_origin__z_up'}
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/home_kitchen/accessories/sweet_home_dish_drying_rack_utensil_holder.sdf
+    name: drying_rack_utensil_holder
+- add_weld:
+    X_PC:
+      rotation: !Rpy
+        deg: [0.0, -4.5, 0.0]
+      translation: [-0.1518, 0.0735, 0.11335]
+    child: drying_rack_utensil_holder::origin
+    parent: drying_rack_wireframe::origin
+- add_weld:
+    X_PC:
+      rotation: !Rpy
+        deg: [0.0, 0.0, -90.0]
+      translation: [0.05105456222528079, 0.5279862439287348, 0.0]
+    child: drying_rack_base::origin
+    parent: manipuland_table::origin
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/home_kitchen/plates/ikea_dinera_plate_8in_mesh_collision.sdf
+    name: plate_0
+- add_weld:
+    X_PC:
+      rotation: !Rpy
+        deg: [84.5543344, -0.00126025272, 89.9875107]
+      translation: [0.00921943, 0.00230206, 0.02007212]
+    child: plate_0::origin
+    parent: drying_rack_wireframe::plate_slot_rail_8
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/home_kitchen/plates/ikea_dinera_plate_8in_mesh_collision.sdf
+    name: plate_1
+- add_weld:
+    X_PC:
+      rotation: !Rpy
+        deg: [84.5543344, -0.00126025272, 89.9875107]
+      translation: [0.00921943, 0.00230206, 0.02007212]
+    child: plate_1::origin
+    parent: drying_rack_wireframe::plate_slot_rail_3
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/home_kitchen/accessories/dorhors_wood_mug_holder.sdf
+    name: mug_holder
+- add_weld:
+    X_PC:
+      rotation: {}
+      translation: [0.13449520990890484, -0.4475303679549947, 0.0]
+    child: mug_holder::origin
+    parent: manipuland_table::origin
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/mug_2/mug_inomata_white_issue11152_mesh_collision.sdf
+    name: mug_0
+- add_weld:
+    X_PC:
+      rotation: !Rpy
+        deg: [-73.14290783, 6.61464528, 133.98682999]
+      translation: [0.09434705, 0.01579505, 0.00668992]
+    child: mug_0::origin
+    parent: mug_holder::bottom_right_branch_base
+- add_model:
+    default_free_body_pose: {}
+    default_joint_positions: {}
+    file: package://anzu/models/mug_2/mug_inomata_white_issue11152_mesh_collision.sdf
+    name: mug_1
+- add_weld:
+    X_PC:
+      rotation: !Rpy
+        deg: [-73.14290783, 6.61464528, 133.98682999]
+      translation: [0.09434705, 0.01579505, 0.00668992]
+    child: mug_1::origin
+    parent: mug_holder::top_left_branch_base
+- add_model:
+    default_free_body_pose:
+      handle_center_aligned:
+        base_frame: utensil_crock::origin
+        rotation: !Rpy
+          deg: [0.0, 90.0, -177.07904739713862]
+        translation: [0.000986004346972387, -0.008989698236073932, 0.15]
+    default_joint_positions: {}
+    file: package://anzu/models/home_kitchen/spatulas/thimma_wood_flat_spatula.sdf
+    name: spatula_0
+- add_frame:
+    X_PF:
+      base_frame: manipuland_table::origin
+      rotation: {}
+      translation: [-0.2, -0.5, 0.0]
+    name: manipuland_table::spatula_on_table_target
+- add_model:
+    default_free_body_pose:
+      bottom:
+        base_frame: manipuland_table::origin
+        rotation: !Rpy
+          deg: [0.0, 0.0, -115.49907804463118]
+        translation: [-0.20297550771961723, -0.4805630336751796, 0.0]
+    default_joint_positions: {}
+    file: package://anzu/models/lifelong/spoon/spoon_oxo_steel_issue8814_low.sdf
+    name: serving_spoon
+initial_position:
+  left::panda:
+    panda_joint1: [-0.6108652381980153]
+    panda_joint2: [-0.6108652381980153]
+    panda_joint3: [0]
+    panda_joint4: [-2.356194490192345]
+    panda_joint5: [0]
+    panda_joint6: [1.8325957145940461]
+    panda_joint7: [0.7853981633974483]
+  left::panda_hand:
+    panda_finger_joint1: [-0.04]
+    panda_finger_joint2: [0.04]
+  right::panda:
+    panda_joint1: [0.4363323129985824]
+    panda_joint2: [-0.6108652381980153]
+    panda_joint3: [0.0]
+    panda_joint4: [-2.356194490192345]
+    panda_joint5: [0]
+    panda_joint6: [1.8325957145940461]
+    panda_joint7: [-1.1344640137963142]
+  right::panda_hand:
+    panda_finger_joint1: [-0.04]
+    panda_finger_joint2: [0.04]
+item_locking:
+  unlock_near_geometry: ['right::panda::panda_link3', 'right::panda::panda_link4',
+    'right::panda_hand::panda_leftfinger', 'right::panda_hand::panda_rightfinger',
+    'left::panda::panda_link3', 'left::panda::panda_link4', 'left::panda_hand::panda_leftfinger',
+    'left::panda_hand::panda_rightfinger']
+lcm_buses:
+  camera: {lcm_url: 'memq://null'}
+  default: {lcm_url: 'memq://null'}
+  left: {lcm_url: 'memq://null'}
+  right: {lcm_url: 'memq://null'}
+  visualizer_bus: {lcm_url: 'memq://null'}
+logging:
+  logs:
+  - !KeyframesLogging {filename: /home/zeyiliu/tmp/data/tasks/BimanualPutSpatulaOnTableFromUtensilCrock/riverway/sim/bc/teleop/2025-06-28T02-57-05+00-00/demonstration_46/keyframes.txt,
+    frequency_fps: 10.0}
+model_drivers:
+  left::panda: !PandaArmDriver {arm_child_frame_name: panda_link0, control_mode: position_only,
+    ext_joint_filter_tau: 0.01, gripper_parent_frame_name: panda_link8, hand_model_name: 'left::panda_hand',
+    lcm_bus: left}
+  left::panda_hand: !PandaHandDriver {lcm_bus: left, use_implicit_pd: true}
+  right::panda: !PandaArmDriver {arm_child_frame_name: panda_link0, control_mode: position_only,
+    ext_joint_filter_tau: 0.01, gripper_parent_frame_name: panda_link8, hand_model_name: 'right::panda_hand',
+    lcm_bus: right}
+  right::panda_hand: !PandaHandDriver {lcm_bus: right, use_implicit_pd: true}
+plant_config: {contact_model: hydroelastic_with_fallback, discrete_contact_approximation: lagged,
+  penetration_allowance: 2e-3, stiction_tolerance: 1e-4, time_step: 10e-3}
+preconditions:
+  constraints:
+    PlatesDontOverlap: !NonCollisionConstraint
+      forbid_collision_between: ['plate_0::.*', 'plate_1::.*']
+    SpatulaAndMugDoesntIntersectObjects: !NonCollisionConstraint
+      forbid_collision_between: ['drying_rack_base::.*', 'drying_rack_wireframe::.*',
+        'drying_rack_utensil_holder::.*', 'utensil_crock::.*', 'plate_0::.*', 'plate_1::.*',
+        'mug_0::.*', 'mug_1::.*', 'spatula_0::.*', 'serving_spoon::.*']
+    SpoonDoesntIntersectObjects: !NonCollisionConstraint
+      forbid_collision_between: ['utensil_crock::.*', 'plate_0::.*', 'mug_holder::.*',
+        'serving_spoon::.*', 'mug_0::.*', 'mug_1::.*']
+random_seed: 146
+scene_graph_config:
+  default_proximity_properties: {margin: 1e-4}
+simulation_duration: .inf
+simulator_config: {accuracy: 0.01, integration_scheme: runge_kutta2, max_step_size: 0.001,
+  publish_every_time_step: false, target_realtime_rate: 1.0, use_error_control: false}
+visualization: {enable_meshcat_creation: true, lcm_bus: visualizer_bus, publish_contacts: false,
+  publish_illustration: true, publish_period: 0.05, publish_proximity: true}

BimanualPutSpatulaOnTableFromUtensilCrock/2025-06-28T02-57-05+00-00/diffusion_spartan/episode_46/processed/summary.npz

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