Datasets:
episode_id string | seed int64 | initial_conditions string | environment_parameters string | controller_parameters string | task_trajectory_path string | task_trajectory_sha256 string | task_timesteps int64 | terminal_state_id string | snapshot_path string | snapshot_hash string | Y_pre int64 | insertion_depth float64 | lateral_error float64 | angular_error_deg float64 | depth_margin float64 | lateral_margin float64 | angular_margin float64 | pre_success_margin float64 | terminal_category string |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
p00000 | 20,000 | {"tilt_x_deg": 2.2369985076299894, "tilt_y_deg": 2.2118795200754366, "x": 0.0003214731237704462, "y": 0.004823982570706467, "z": 0.12328393016631299} | {"clearance": 0.0006200794643638783, "contact_dampratio": 1.0263367474289091, "contact_timeconst": 0.004545531417934922, "contact_width": 0.0012008914355087852, "friction": 0.28370076719681564} | {"actuation_noise": 0.0006653641762551543, "angular_kp": 0.04505728288848773, "axial_kp": 37.74986792144768, "controller_noise": 0.019451091263940443, "lateral_kp": 24.458257864079922, "max_force": 1.0376556142889017, "settle_steps": 105, "target_depth": 0.03309321240473644, "target_x": -0.0013586337301392498, "target_... | trajectories/p00000_TASK.npz | 65b0d0a9befefa73b9bb780c51c2dc7943f46a5279d68d09d3852030d1ac4849 | 351 | 044d1be170922c89 | snapshots/p00000.npy | 044d1be170922c893329a3140e7c89dab57c360a1e3b7f6ebd712466ef533c26 | 0 | -0.000104 | 0.003078 | 2.306916 | -0.028104 | -0.001578 | 0.693084 | -1.052292 | misaligned |
p00001 | 20,001 | {"tilt_x_deg": -1.0223766265158671, "tilt_y_deg": 0.8230315234778143, "x": -0.005169737226289918, "y": 0.003536082036202707, "z": 0.13452345521454798} | {"clearance": 0.0008710763839116056, "contact_dampratio": 1.0677570963404626, "contact_timeconst": 0.00776673189859638, "contact_width": 0.0010773351064527334, "friction": 0.6196476260318557} | {"actuation_noise": 0.017133627412068825, "angular_kp": 0.10572543610793447, "axial_kp": 34.94762242952963, "controller_noise": 0.01358789475654742, "lateral_kp": 26.451077654041406, "max_force": 0.6159223222818208, "settle_steps": 128, "target_depth": 0.025045583486449956, "target_x": 0.0015396362711415797, "target_y"... | trajectories/p00001_TASK.npz | e13a4f2a54b93aea13057163f785e840e1496b79065ab1da0df3eb9733a8c103 | 393 | 108d7a07273c71e5 | snapshots/p00001.npy | 108d7a07273c71e5444375966c002280790cd934e4f28ffdf1c085945d6f27d2 | 0 | 0.025739 | 0.001217 | 0.233814 | -0.002261 | 0.000283 | 2.766186 | -0.080737 | near-success |
p00002 | 20,002 | {"tilt_x_deg": -4.9464898755887, "tilt_y_deg": -4.619580705724583, "x": 0.003409938372179566, "y": -0.005738409797493577, "z": 0.13241208065480473} | {"clearance": 0.0010719930281082434, "contact_dampratio": 1.1810123278791924, "contact_timeconst": 0.0071376516958708905, "contact_width": 0.001236586929635689, "friction": 0.7016237121917687} | {"actuation_noise": 0.014727717411176034, "angular_kp": 0.05238261602467481, "axial_kp": 37.02086794538514, "controller_noise": 0.009954845221379594, "lateral_kp": 23.644570845326747, "max_force": 0.9222158019057328, "settle_steps": 122, "target_depth": 0.02664122410383036, "target_x": -0.0011949708362300377, "target_y... | trajectories/p00002_TASK.npz | 3c9cfdb93680f1f71611471b1797a198f9725234f6eb36a295404eb0c94b0f29 | 306 | 46f96c65e4cc5bd3 | snapshots/p00002.npy | 46f96c65e4cc5bd3008ed09aa304dd9dfa7828dd2c89e37c9a1453dcf15e0d96 | 0 | -0.000101 | 0.002267 | 5.416376 | -0.028101 | -0.000767 | -2.416376 | -1.003605 | misaligned |
p00003 | 20,003 | {"tilt_x_deg": 1.1748438238033057, "tilt_y_deg": -4.074701202171659, "x": -0.0018294167869011705, "y": -0.0010426723930367088, "z": 0.1333743804126193} | {"clearance": 0.0009341982742674651, "contact_dampratio": 0.9623203440744527, "contact_timeconst": 0.006811386789228438, "contact_width": 0.000747758840432936, "friction": 0.6426256219638025} | {"actuation_noise": 0.015515863278889017, "angular_kp": 0.09841329524931838, "axial_kp": 41.81289238274313, "controller_noise": 0.02303191289002407, "lateral_kp": 16.85945023597835, "max_force": 0.5506342778362452, "settle_steps": 138, "target_depth": 0.032646948626301665, "target_x": 0.0007060451694618835, "target_y":... | trajectories/p00003_TASK.npz | 8e8951ad54b41c56989d325416f57c46d5d90b956fb94823a5a9ab8ff2d70c46 | 426 | 44fa703f00cafcf3 | snapshots/p00003.npy | 44fa703f00cafcf3020511f7a93828be14f589d60bd43893584d374c4102498d | 1 | 0.032585 | 0.00065 | 0.900454 | 0.004585 | 0.00085 | 2.099546 | 0.163744 | successful |
p00004 | 20,004 | {"tilt_x_deg": 1.491710793546, "tilt_y_deg": 3.278273269439884, "x": 0.0018370024728960686, "y": 0.0016919749131481306, "z": 0.12320129490640896} | {"clearance": 0.001513527871655699, "contact_dampratio": 1.0476054297042676, "contact_timeconst": 0.007005625772482083, "contact_width": 0.0010524005249659273, "friction": 0.2535491403838315} | {"actuation_noise": 0.007063513209333787, "angular_kp": 0.08913316606286535, "axial_kp": 31.618286913349, "controller_noise": 0.0054415695593836855, "lateral_kp": 15.065990051562551, "max_force": 0.962296075207768, "settle_steps": 132, "target_depth": 0.02529052343801217, "target_x": 0.00017918533080182354, "target_y":... | trajectories/p00004_TASK.npz | e3d3e87137fe445a6bf99223f6e07b8a095974ae8835f6a6188edda784cfc6f6 | 420 | 26df47f33581055a | snapshots/p00004.npy | 26df47f33581055ab1d9901ebdf479ee89ade55a43419ec56774fc46b782e48b | 0 | 0.025205 | 0.000539 | 0.972158 | -0.002795 | 0.000961 | 2.027842 | -0.099804 | near-success |
p00005 | 20,005 | {"tilt_x_deg": 2.2957261803193276, "tilt_y_deg": 2.398152209161225, "x": -0.0013920117917433613, "y": -0.0025034387981474294, "z": 0.13398315868844476} | {"clearance": 0.0013517498955901823, "contact_dampratio": 1.198487694645454, "contact_timeconst": 0.006126193282036414, "contact_width": 0.0012677132534019437, "friction": 0.3329522223281358} | {"actuation_noise": 0.01929855011455177, "angular_kp": 0.07699935812781522, "axial_kp": 37.929993520483016, "controller_noise": 0.016141200320270346, "lateral_kp": 23.010912075956753, "max_force": 0.9685848692129002, "settle_steps": 106, "target_depth": 0.029804677040939517, "target_x": -0.0003593302890711864, "target_... | trajectories/p00005_TASK.npz | 2d5621d1fbfdc56fb34ffeb4606f239b83f39b8689c54cbba3c0882d18ed91b1 | 393 | eb40ceac11d40cb3 | snapshots/p00005.npy | eb40ceac11d40cb3fbf04c543363f14919d9bc6939e40317f6603761ed0a89d1 | 1 | 0.029687 | 0.001345 | 1.069622 | 0.001687 | 0.000155 | 1.930378 | 0.060259 | successful |
p00006 | 20,006 | {"tilt_x_deg": 4.749888983295881, "tilt_y_deg": -4.4767993742840355, "x": -0.003664517645932909, "y": -0.005151234907796993, "z": 0.12467787318326905} | {"clearance": 0.0008964940479979614, "contact_dampratio": 1.1065341751044215, "contact_timeconst": 0.00524984419271658, "contact_width": 0.0010385912669820879, "friction": 0.33848717862871514} | {"actuation_noise": 0.019022899852969507, "angular_kp": 0.044364833835591616, "axial_kp": 38.76656267951438, "controller_noise": 0.010153899339586402, "lateral_kp": 24.718464607375623, "max_force": 0.8878987748939253, "settle_steps": 126, "target_depth": 0.02769739536543137, "target_x": 0.0019878339082849542, "target_y... | trajectories/p00006_TASK.npz | 48a2ea9fac796675a36fb136aadd7a59d1941f07307471c80bfa82bb39389980 | 345 | 7d1a1979afc015e5 | snapshots/p00006.npy | 7d1a1979afc015e57e3c0612a540163790e8d239485ffe9a2d3318ad697ed465 | 0 | -0.000052 | 0.001764 | 0.036317 | -0.028052 | -0.000264 | 2.963683 | -1.001871 | misaligned |
p00007 | 20,007 | {"tilt_x_deg": 3.939821943493934, "tilt_y_deg": -2.2199155736786826, "x": 0.003810608475855605, "y": -0.003459874463948052, "z": 0.13482845075375105} | {"clearance": 0.0013533767801710457, "contact_dampratio": 0.9825143531319132, "contact_timeconst": 0.004912364280894411, "contact_width": 0.0009956048184501431, "friction": 0.7829142875914149} | {"actuation_noise": 0.00854916094389138, "angular_kp": 0.11193499721917341, "axial_kp": 37.75973187341319, "controller_noise": 0.022107108881655624, "lateral_kp": 29.082122210132955, "max_force": 0.9867405001412316, "settle_steps": 124, "target_depth": 0.025865878169787523, "target_x": -0.0022290644660042797, "target_y... | trajectories/p00007_TASK.npz | c28ddf1d307f863945b17846b5e31dd17728db02c908e6d2dc31303144bf7aff | 399 | 0a32cb1881ffc78d | snapshots/p00007.npy | 0a32cb1881ffc78d9fa9ffc4c9dcf598068a2820b4559535102873739e5a0815 | 0 | 0.025905 | 0.001705 | 0.814999 | -0.002095 | -0.000205 | 2.185001 | -0.136346 | near-success |
p00008 | 20,008 | {"tilt_x_deg": -1.0948452924298984, "tilt_y_deg": -0.22578416699531267, "x": 0.005090845526959088, "y": 0.0020030383157191526, "z": 0.1325901983584168} | {"clearance": 0.0011877750401925145, "contact_dampratio": 0.9432859789337595, "contact_timeconst": 0.005570443486517495, "contact_width": 0.0010894001912565986, "friction": 0.7918756426391185} | {"actuation_noise": 0.00488378380553846, "angular_kp": 0.11901898509710024, "axial_kp": 29.15038944799965, "controller_noise": 0.009254019977042774, "lateral_kp": 23.416586666659647, "max_force": 0.7009754895250677, "settle_steps": 136, "target_depth": 0.03219090694674631, "target_x": -0.0006891730715454219, "target_y"... | trajectories/p00008_TASK.npz | 5d0412db9c1349ed88158c7dfec720f0353ae90d0740b2f5125918cd222e4782 | 344 | 72730cee5cc93a98 | snapshots/p00008.npy | 72730cee5cc93a98945778ae14c466aa81a2a19dff257dbfd5a218b28a10dad4 | 1 | 0.032734 | 0.001336 | 0.235854 | 0.004734 | 0.000164 | 2.764146 | 0.109319 | successful |
p00009 | 20,009 | {"tilt_x_deg": -3.6275838929744295, "tilt_y_deg": -3.269971614323601, "x": -0.0018025851871663794, "y": -0.0013607194573208477, "z": 0.12889628722425062} | {"clearance": 0.0005566410490684078, "contact_dampratio": 1.17030149872422, "contact_timeconst": 0.005525133365129624, "contact_width": 0.0008994931419747309, "friction": 0.30555201932771914} | {"actuation_noise": 0.019110176508411892, "angular_kp": 0.09811897387935428, "axial_kp": 40.14031597645372, "controller_noise": 0.0036323854789804544, "lateral_kp": 15.678960671447404, "max_force": 0.7550355939310172, "settle_steps": 119, "target_depth": 0.03259491663252166, "target_x": -0.0024568151939806447, "target_... | trajectories/p00009_TASK.npz | 0fb4889bd7ee0ee283d77a1a34e279b6e6f708c8a8f4b38b115e81d46a9d6886 | 384 | c54216f9d4e0069d | snapshots/p00009.npy | c54216f9d4e0069d9322243b21f1a469f4973105c73f4651b0755a981ee2166a | 0 | 0.000604 | 0.000723 | 4.061746 | -0.027396 | 0.000777 | -1.061746 | -0.978434 | misaligned |
p00010 | 20,010 | {"tilt_x_deg": 3.1180349782399137, "tilt_y_deg": -4.343828239007567, "x": 0.0022251011009845802, "y": -0.004951968339696194, "z": 0.13403782360723981} | {"clearance": 0.0009837311095791709, "contact_dampratio": 1.1074767735353763, "contact_timeconst": 0.0045398263379033965, "contact_width": 0.0012904405263545415, "friction": 0.5591601434320628} | {"actuation_noise": 0.017548136492577374, "angular_kp": 0.05862397836859582, "axial_kp": 30.056291101174374, "controller_noise": 0.017361468556490012, "lateral_kp": 14.943756816421477, "max_force": 0.6748625203621492, "settle_steps": 114, "target_depth": 0.03048102061016165, "target_x": -0.0004393879117540549, "target_... | trajectories/p00010_TASK.npz | 9148dcaa49d65fd899932deaab0bfb7c420dc216f9bff7c4e5e1ae3f7bf7d9d2 | 337 | 583c3c8faac3ab08 | snapshots/p00010.npy | 583c3c8faac3ab08bfbdca253bd7fde4770f962ce7a3a03ba06de7f7e495c788 | 0 | -0.000053 | 0.002779 | 0.913545 | -0.028053 | -0.001279 | 2.086455 | -1.001887 | misaligned |
p00011 | 20,011 | {"tilt_x_deg": -0.0024866331171944367, "tilt_y_deg": -2.1171883341975986, "x": -0.004938570132059408, "y": -0.0026482765483321104, "z": 0.12337983894744738} | {"clearance": 0.00129801820631687, "contact_dampratio": 0.8384464008608143, "contact_timeconst": 0.007572462634297161, "contact_width": 0.0008403562067018784, "friction": 0.42984395479069126} | {"actuation_noise": 0.002630314593647274, "angular_kp": 0.11947198671285447, "axial_kp": 21.062180524722244, "controller_noise": 0.011511144846265834, "lateral_kp": 15.206752667193049, "max_force": 0.8816675146246995, "settle_steps": 112, "target_depth": 0.03140176986798608, "target_x": 0.0004398483400896258, "target_y... | trajectories/p00011_TASK.npz | d359e13758f0f6809a5f7db17eade6d9b8417c730f1414d5dab6945891aa05b0 | 342 | bc74d25bdea494cd | snapshots/p00011.npy | bc74d25bdea494cdd8ac348c98992ea4e45af70f1c24eeac265350f420ac337a | 0 | -0.000059 | 0.003189 | 0.204831 | -0.028059 | -0.001689 | 2.795169 | -1.125704 | misaligned |
p00012 | 20,012 | {"tilt_x_deg": 5.681028252774642, "tilt_y_deg": 5.829883874446558, "x": -0.0056294978977554895, "y": -0.0018743527468713652, "z": 0.12881008388502513} | {"clearance": 0.0006077746224455971, "contact_dampratio": 1.1444945917156246, "contact_timeconst": 0.006107884325257138, "contact_width": 0.0008240150088943391, "friction": 0.47002397535086266} | {"actuation_noise": 0.0026539288589736, "angular_kp": 0.05230168404297517, "axial_kp": 30.986558382246194, "controller_noise": 0.017291042182791438, "lateral_kp": 12.430508228185387, "max_force": 0.621511297811512, "settle_steps": 115, "target_depth": 0.02836571599599287, "target_x": 0.001199883379044029, "target_y": -... | trajectories/p00012_TASK.npz | ae0e51133f525da2b120df58b1d5b0124b5d14076210b1a4694f9847a9d0914b | 388 | 45417fa1ee03579c | snapshots/p00012.npy | 45417fa1ee03579ca512e06c5299d4bc53ed2ea06733acc70966b9bc846d34c1 | 0 | 0.000385 | 0.002582 | 5.664968 | -0.027615 | -0.001082 | -2.664968 | -0.986259 | misaligned |
p00013 | 20,013 | {"tilt_x_deg": -2.4682838040573096, "tilt_y_deg": -4.463096129372824, "x": 0.0036632223560565703, "y": 0.003559140975266729, "z": 0.12337792109740617} | {"clearance": 0.0011025935685644184, "contact_dampratio": 0.9959356700127615, "contact_timeconst": 0.005336757345549738, "contact_width": 0.0010942147623692953, "friction": 0.45191649763182695} | {"actuation_noise": 0.007321136622198303, "angular_kp": 0.052529946865401786, "axial_kp": 23.77558626782118, "controller_noise": 0.013815587600369751, "lateral_kp": 14.650896334547475, "max_force": 0.853432757122072, "settle_steps": 110, "target_depth": 0.03139647254475066, "target_x": -0.00018331222920393592, "target_... | trajectories/p00013_TASK.npz | ebbb62a14bef49f3c77bca6c49971dfc744fd6e4be42d89f68251e8d697fa54d | 384 | 532042918c513f1d | snapshots/p00013.npy | 532042918c513f1d8659f1185ede69842540b323d97eca8ee0e6dafc1e23d53e | 0 | -0.000074 | 0.004191 | 1.280093 | -0.028074 | -0.002691 | 1.719907 | -1.793911 | misaligned |
p00014 | 20,014 | {"tilt_x_deg": 3.208261368126621, "tilt_y_deg": 0.9555869882323433, "x": 0.003863565941271147, "y": -0.0012172428418741072, "z": 0.12591976693991974} | {"clearance": 0.0008861730399672432, "contact_dampratio": 0.8138776863224717, "contact_timeconst": 0.006518632864830698, "contact_width": 0.0010829009014012474, "friction": 0.8917132151172424} | {"actuation_noise": 0.01875680388076073, "angular_kp": 0.07379061479829543, "axial_kp": 29.471141030617552, "controller_noise": 0.017948403364455547, "lateral_kp": 12.07466349688279, "max_force": 1.013511632778248, "settle_steps": 129, "target_depth": 0.029209743637696583, "target_x": 0.0009195570618753123, "target_y":... | trajectories/p00014_TASK.npz | 4f5dd049354b142fda50f0e6ddb227edf3796dc67441a303edf19d72816f8e2d | 388 | 080512770617eecb | snapshots/p00014.npy | 080512770617eecbf169034278a418314f6cc01de3e0370835330fab34f2a76d | 0 | 0.000227 | 0.001344 | 2.828701 | -0.027773 | 0.000156 | 0.171299 | -0.991895 | under-inserted |
p00015 | 20,015 | {"tilt_x_deg": -2.6403819822170327, "tilt_y_deg": 3.078601373491791, "x": 0.0012763110997429982, "y": 0.003941484344355579, "z": 0.12486427987127686} | {"clearance": 0.0006268398263578695, "contact_dampratio": 1.0275566650957215, "contact_timeconst": 0.007666688001071046, "contact_width": 0.0009298733305148094, "friction": 0.792147347978593} | {"actuation_noise": 0.0008614802319137627, "angular_kp": 0.07018239289857656, "axial_kp": 27.295609579735725, "controller_noise": 0.024194412444538405, "lateral_kp": 12.994391041875865, "max_force": 1.0214423601235192, "settle_steps": 110, "target_depth": 0.03287319881050663, "target_x": 0.002354206921656351, "target_y... | trajectories/p00015_TASK.npz | f6d6349541aa51ada5e143947d16a5602a3509cde8162e074f71c4da959d79e0 | 347 | ab4b74c1067e6686 | snapshots/p00015.npy | ab4b74c1067e6686fd8dcb41a7d6b4f431a0c49ba93b9ab4b568e0d0ffefda7c | 0 | 0.000124 | 0.001471 | 2.005755 | -0.027876 | 0.000029 | 0.994245 | -0.995555 | under-inserted |
p00016 | 20,016 | {"tilt_x_deg": 4.87687007449893, "tilt_y_deg": -4.678389649004519, "x": -0.0007171986670074489, "y": -0.005548055184333164, "z": 0.13261082709332428} | {"clearance": 0.001340928818805932, "contact_dampratio": 1.0324995458886435, "contact_timeconst": 0.005210714781048136, "contact_width": 0.0011807682242602935, "friction": 0.880015376072759} | {"actuation_noise": 0.0034821601299516967, "angular_kp": 0.0625392165188036, "axial_kp": 21.44462398014166, "controller_noise": 0.01773883358785072, "lateral_kp": 17.0610284137786, "max_force": 0.903229884095642, "settle_steps": 107, "target_depth": 0.025220569195265587, "target_x": -0.001998169910059734, "target_y": 0... | trajectories/p00016_TASK.npz | 0ab2ce66c89f8ddcd9825065140c63ac31d698292aae8b16038b9fd5da12276c | 324 | 1f04a8903137482a | snapshots/p00016.npy | 1f04a8903137482a5e6f7a3616365b7f8a570bd3f277f2f47016bbb253853dd4 | 0 | 0.025375 | 0.001304 | 3.418407 | -0.002625 | 0.000196 | -0.418407 | -0.139469 | near-success |
p00017 | 20,017 | {"tilt_x_deg": -0.9077333068584412, "tilt_y_deg": 1.1302422095037556, "x": -0.0004496725500976375, "y": 0.002187163392329475, "z": 0.13085673959403374} | {"clearance": 0.0004009428410830417, "contact_dampratio": 1.1261899344743624, "contact_timeconst": 0.007016050118106636, "contact_width": 0.0012818960083036046, "friction": 0.7307560390374708} | {"actuation_noise": 0.01736572332132117, "angular_kp": 0.10945995189735894, "axial_kp": 28.111571847599087, "controller_noise": 0.01680942866112883, "lateral_kp": 14.786819039559242, "max_force": 0.6990687004518794, "settle_steps": 111, "target_depth": 0.025126964252282575, "target_x": -0.001562009172530721, "target_y"... | trajectories/p00017_TASK.npz | 1bb0d3afb59075d9a97a6c0e9aa11381a640de912dc586cc184c7f5c00ded5fc | 399 | 1f195c750b75dfd4 | snapshots/p00017.npy | 1f195c750b75dfd498136b9f13c40d3eccd90d4e46e42db40092b6d342c3a9c6 | 0 | -0.000049 | 0.002341 | 0.059965 | -0.028049 | -0.000841 | 2.940035 | -1.00175 | misaligned |
p00018 | 20,018 | {"tilt_x_deg": 0.7834311699831389, "tilt_y_deg": 3.318939863171421, "x": -0.0012816492933665768, "y": -0.0006235182375920762, "z": 0.12971873388437213} | {"clearance": 0.0008380679223486596, "contact_dampratio": 0.8820475487003344, "contact_timeconst": 0.006248294005294664, "contact_width": 0.0012249145068704203, "friction": 0.4090016580202924} | {"actuation_noise": 0.007085654139178547, "angular_kp": 0.09477878157738842, "axial_kp": 38.95433402975786, "controller_noise": 0.010769863759992804, "lateral_kp": 21.54466332892505, "max_force": 1.0358499450661716, "settle_steps": 132, "target_depth": 0.03297699058394624, "target_x": 0.0005073223062055216, "target_y":... | trajectories/p00018_TASK.npz | 6c72fb87e966dcc3329e4271d8f6fd14c8f80fc5fa71df93fa2e64563d9d2ee0 | 352 | 78a8a91049fff371 | snapshots/p00018.npy | 78a8a91049fff37158e69504377a09a4cbd96d2d8685a5291fa869275520f7b3 | 1 | 0.0326 | 0.000891 | 1.317658 | 0.0046 | 0.000609 | 1.682342 | 0.164293 | successful |
p00019 | 20,019 | {"tilt_x_deg": 2.6882272012481785, "tilt_y_deg": 4.216138841680758, "x": -0.0047071305120687905, "y": -0.0014717370932970202, "z": 0.12383591311282865} | {"clearance": 0.001485727696983372, "contact_dampratio": 1.048461217113928, "contact_timeconst": 0.004800806382281197, "contact_width": 0.0009932657887774875, "friction": 0.6007158649460128} | {"actuation_noise": 0.007251205942022589, "angular_kp": 0.06607161120738907, "axial_kp": 29.207600632955558, "controller_noise": 0.006502878792397951, "lateral_kp": 18.458100944090294, "max_force": 0.7358793830019189, "settle_steps": 129, "target_depth": 0.030263092857896915, "target_x": 0.00030861535059138485, "target... | trajectories/p00019_TASK.npz | 7aa8914ec7b233ed68fef55746c193d40e9bbde30e7cb0f18446a3d4ebdb078a | 339 | 342fed3b9cef8704 | snapshots/p00019.npy | 342fed3b9cef8704e69e2f7f16898b8cfa3da93e63ff5a51cb857de30e5d89f3 | 0 | 0.000532 | 0.001928 | 5.005334 | -0.027468 | -0.000428 | -2.005334 | -0.981008 | misaligned |
p00020 | 20,020 | {"tilt_x_deg": 2.2970925693618582, "tilt_y_deg": 5.419290331847877, "x": -0.0015379977320455727, "y": 0.000661502640319906, "z": 0.12687306081644523} | {"clearance": 0.0016841028128993833, "contact_dampratio": 0.9667473563802897, "contact_timeconst": 0.0066240079435650745, "contact_width": 0.0010919242328455555, "friction": 0.28918263304436104} | {"actuation_noise": 0.0018027865256168242, "angular_kp": 0.09014000799941296, "axial_kp": 38.92838366731817, "controller_noise": 0.005060697531788953, "lateral_kp": 17.837089904376572, "max_force": 0.6171074599880084, "settle_steps": 125, "target_depth": 0.030467829217555684, "target_x": -0.002221521320554218, "target_... | trajectories/p00020_TASK.npz | e80f957a66faa12dd4b0f5f29df14477e89f282485dfb02247b167c9be0ce99f | 344 | 83477b1b8b772e9d | snapshots/p00020.npy | 83477b1b8b772e9d3b76a7954cffd5b7a0639a25e185614e49d69075ef8b510b | 0 | 0.000488 | 0.001542 | 3.995447 | -0.027512 | -0.000042 | -0.995447 | -0.982568 | misaligned |
p00021 | 20,021 | {"tilt_x_deg": 3.130225769376411, "tilt_y_deg": 0.39485440973031505, "x": -0.0034402546499658774, "y": -0.002223118364871046, "z": 0.12538246029755784} | {"clearance": 0.0006126706519607579, "contact_dampratio": 1.1699325096525084, "contact_timeconst": 0.007207020719874432, "contact_width": 0.001206109505213805, "friction": 0.28205491796880333} | {"actuation_noise": 0.019037764378203627, "angular_kp": 0.058983205191440805, "axial_kp": 34.142503529527716, "controller_noise": 0.010540019483699118, "lateral_kp": 13.4684724645983, "max_force": 1.0433800542253975, "settle_steps": 109, "target_depth": 0.026890763699629776, "target_x": 0.0008127968867942398, "target_y... | trajectories/p00021_TASK.npz | a4dbbaaf4b33f1b3d11b54d43ba4c442321bbdd8977daf4320e61adc82353dc6 | 336 | a8b5ab5c5c669db1 | snapshots/p00021.npy | a8b5ab5c5c669db17aa59b57645631bc5ffee20d9f623982f945d701f697cf62 | 0 | 0.000402 | 0.000881 | 3.768325 | -0.027598 | 0.000619 | -0.768325 | -0.985657 | misaligned |
p00022 | 20,022 | {"tilt_x_deg": 2.904545420837886, "tilt_y_deg": 2.023364685527474, "x": -0.00043481538873170467, "y": 0.003211523437107417, "z": 0.12537854702022858} | {"clearance": 0.00044068397589643667, "contact_dampratio": 0.9040831906836629, "contact_timeconst": 0.005324926320892495, "contact_width": 0.0007222795685029634, "friction": 0.4364774492585089} | {"actuation_noise": 0.010526722703632958, "angular_kp": 0.0441149711673943, "axial_kp": 22.76040946589427, "controller_noise": 0.0012924290308934689, "lateral_kp": 29.95369773013772, "max_force": 0.7227536078946833, "settle_steps": 121, "target_depth": 0.027036147747450747, "target_x": -0.0009759171993908233, "target_y... | trajectories/p00022_TASK.npz | 0ea5af4219750efd8b271587e451ce39da55d37dfe4300af5f29f288cb88add1 | 394 | a385979c217dda43 | snapshots/p00022.npy | a385979c217dda43b549e5c11e1640fa09bb29a42ebcaa8a59c780539e2b72f5 | 0 | -0.000051 | 0.000707 | 2.66533 | -0.028051 | 0.000793 | 0.33467 | -1.001819 | under-inserted |
p00023 | 20,023 | {"tilt_x_deg": -3.744188430232542, "tilt_y_deg": 1.3210201883643213, "x": 0.003489546089991696, "y": 0.003614689069949958, "z": 0.12969521180452473} | {"clearance": 0.0017425506045470934, "contact_dampratio": 1.188166593250338, "contact_timeconst": 0.004782093273463424, "contact_width": 0.000977753803309524, "friction": 0.36822654342852695} | {"actuation_noise": 0.007042034894389759, "angular_kp": 0.10907623586333826, "axial_kp": 28.87251251548448, "controller_noise": 0.0005567800900360131, "lateral_kp": 23.20090937303332, "max_force": 0.6607266796086115, "settle_steps": 113, "target_depth": 0.02565655680213076, "target_x": 0.0009923192940638139, "target_y"... | trajectories/p00023_TASK.npz | 84aae183ce3893d95da3174ed5db2e404bc9576890e50ee9fd1bbf1de3f711df | 386 | 3002c90e4409d882 | snapshots/p00023.npy | 3002c90e4409d882266615f554d74d58bc51bf9c81ee1ac365df2ce99cf2230e | 0 | 0.025562 | 0.001789 | 0.88277 | -0.002438 | -0.000289 | 2.11723 | -0.192772 | near-success |
p00024 | 20,024 | {"tilt_x_deg": -0.7005064947197486, "tilt_y_deg": 5.296443523465161, "x": -0.005768641803182133, "y": 0.004681249650851222, "z": 0.12602196320082967} | {"clearance": 0.001149031408066982, "contact_dampratio": 1.1403741168615513, "contact_timeconst": 0.0065521638253940966, "contact_width": 0.0007882814274783161, "friction": 0.3790709321607877} | {"actuation_noise": 0.0007707061892171541, "angular_kp": 0.1026425544262857, "axial_kp": 26.37309996874389, "controller_noise": 0.010224574827016088, "lateral_kp": 27.766104776931233, "max_force": 0.984382347152114, "settle_steps": 133, "target_depth": 0.02828574514567372, "target_x": 0.00044076110246223446, "target_y"... | trajectories/p00024_TASK.npz | 74658a7a941bc65e202cce393af7788666c9bed2d962754d94ee2c856d0ef3fb | 425 | d74ec1cf4a34395f | snapshots/p00024.npy | d74ec1cf4a34395f26945ef5b87a93e06f89c472c8bf4ea320a030225193fd71 | 0 | -0.000105 | 0.004497 | 1.659309 | -0.028105 | -0.002997 | 1.340691 | -1.998044 | misaligned |
p00025 | 20,025 | {"tilt_x_deg": -2.5570086853511618, "tilt_y_deg": 1.8081882742009618, "x": -0.00039442662807174025, "y": -0.0045397109042051445, "z": 0.1283389514046155} | {"clearance": 0.0010257022707744054, "contact_dampratio": 0.8547272985218034, "contact_timeconst": 0.00462671805358953, "contact_width": 0.0010835247463602878, "friction": 0.30293462546995487} | {"actuation_noise": 0.003330645030053785, "angular_kp": 0.09273409958744334, "axial_kp": 34.67662714249545, "controller_noise": 0.017723194395084598, "lateral_kp": 15.691842269556718, "max_force": 0.8777461618688815, "settle_steps": 140, "target_depth": 0.028377910408957076, "target_x": -0.0022673747518408205, "target_... | trajectories/p00025_TASK.npz | 7a28f1329a8781183c3ac0f8baf7f0a15ed54311c8575634279061f92e8fe806 | 376 | bc35798329dd6dfc | snapshots/p00025.npy | bc35798329dd6dfc742095808e1aaca08ed5793fcde884eda8e1bf7dbd3279a4 | 0 | -0.000085 | 0.00312 | 1.373754 | -0.028085 | -0.00162 | 1.626246 | -1.079711 | misaligned |
p00026 | 20,026 | {"tilt_x_deg": 4.394254778577292, "tilt_y_deg": 4.6284040639077535, "x": -0.002052275200610983, "y": 0.0010749883849055569, "z": 0.12374171084162562} | {"clearance": 0.001692284431573826, "contact_dampratio": 0.9860822075715585, "contact_timeconst": 0.005813074255731042, "contact_width": 0.0007778761903839772, "friction": 0.6255434900152401} | {"actuation_noise": 0.01655400726662691, "angular_kp": 0.04120432518508957, "axial_kp": 36.90104776103567, "controller_noise": 0.009687950221054814, "lateral_kp": 13.844513197114289, "max_force": 0.6881230412021594, "settle_steps": 115, "target_depth": 0.027258399899860116, "target_x": 0.0016496461326465386, "target_y"... | trajectories/p00026_TASK.npz | 9e0294b4dcf176d5152c5b17a847ad9d3354ee363631b3f2d8389a0f09d87048 | 342 | 67a4e9115e96f5e5 | snapshots/p00026.npy | 67a4e9115e96f5e503b460087d5c1aa251e72a38d53ad4702a79d03385dd4c8d | 0 | -0.00004 | 0.001579 | 4.965545 | -0.02804 | -0.000079 | -1.965545 | -1.001416 | misaligned |
p00027 | 20,027 | {"tilt_x_deg": -4.592195500681703, "tilt_y_deg": -1.2754315868983745, "x": -0.00048684285617766124, "y": 0.00016679306057490462, "z": 0.12579757142067086} | {"clearance": 0.0005708508839461024, "contact_dampratio": 0.911042261794528, "contact_timeconst": 0.00525202159024978, "contact_width": 0.0009702640868225979, "friction": 0.4932554848404412} | {"actuation_noise": 0.012389660183132603, "angular_kp": 0.06462510298768531, "axial_kp": 30.774072904875084, "controller_noise": 0.004291269433379508, "lateral_kp": 21.07422207989487, "max_force": 0.7714237235571655, "settle_steps": 122, "target_depth": 0.025615268771766196, "target_x": -0.0017337576720186116, "target_... | trajectories/p00027_TASK.npz | 715bae37971e54f88fd71395dffbb6e043fd51da7302df0f4f048f1561b0549a | 360 | 2f883200fa053353 | snapshots/p00027.npy | 2f883200fa05335330376f22160fd1554de3bf364d10069b7401b7b54a8eacc4 | 0 | 0.000849 | 0.001283 | 5.455875 | -0.027151 | 0.000217 | -2.455875 | -0.969665 | misaligned |
p00028 | 20,028 | {"tilt_x_deg": -1.932783383405658, "tilt_y_deg": -5.48954193350801, "x": -0.0038345871762807096, "y": 0.0019281531345237708, "z": 0.13155935203252747} | {"clearance": 0.0006039050650253463, "contact_dampratio": 1.194024885361892, "contact_timeconst": 0.006423372326785495, "contact_width": 0.0009396309841099975, "friction": 0.566608705525947} | {"actuation_noise": 0.008543401012099827, "angular_kp": 0.1038584432920274, "axial_kp": 40.72797586924872, "controller_noise": 0.010139156647912923, "lateral_kp": 13.063697332302123, "max_force": 0.8091265145703721, "settle_steps": 111, "target_depth": 0.02667561581806305, "target_x": -0.00045067879432454617, "target_y... | trajectories/p00028_TASK.npz | 1305bb398ec408f21d784d1f5bd0ff5ac2a108531a85b93ecc9c48c4da4cc609 | 292 | a68adaa0c88d0c7d | snapshots/p00028.npy | a68adaa0c88d0c7db3c9e7667edb7a0f119126af5f849d01f45196bd82ee53c3 | 0 | 0.027331 | 0.000572 | 2.000957 | -0.000669 | 0.000928 | 0.999043 | -0.023883 | near-success |
p00029 | 20,029 | {"tilt_x_deg": 3.592023348310356, "tilt_y_deg": -1.22799348887831, "x": -0.004274889069896164, "y": -0.004737600355975312, "z": 0.1307561904949751} | {"clearance": 0.0009648584691923621, "contact_dampratio": 1.0444786659397864, "contact_timeconst": 0.0051488459455742135, "contact_width": 0.00128637452151224, "friction": 0.35938074257091884} | {"actuation_noise": 0.017378671205133374, "angular_kp": 0.09869434626965476, "axial_kp": 20.87011890141956, "controller_noise": 0.012363317118399548, "lateral_kp": 18.718415551266688, "max_force": 0.9508167804267762, "settle_steps": 127, "target_depth": 0.029126516489323413, "target_x": 0.0012065561016898784, "target_y... | trajectories/p00029_TASK.npz | 662eb0434b2c3bdfbe5db36b9f25ae2a96ffe4e519273fb2888b432c40187d47 | 353 | 08c64847d9bc1383 | snapshots/p00029.npy | 08c64847d9bc1383556ea0146575aa726a08a85c4dd8fd7af37808ee80365b3e | 1 | 0.029435 | 0.000837 | 1.187575 | 0.001435 | 0.000663 | 1.812425 | 0.051254 | successful |
p00030 | 20,030 | {"tilt_x_deg": 2.360104947612413, "tilt_y_deg": -5.4900295286258896, "x": -0.001672846896931859, "y": 0.0006822542829768357, "z": 0.1322291561572702} | {"clearance": 0.0008690661519392288, "contact_dampratio": 0.841385652620621, "contact_timeconst": 0.007914537006491704, "contact_width": 0.0012208133194642093, "friction": 0.8558739727055333} | {"actuation_noise": 0.01336473991625771, "angular_kp": 0.09749548548349907, "axial_kp": 26.155931430649513, "controller_noise": 0.01490675612282296, "lateral_kp": 31.024070652077178, "max_force": 0.8471736965275508, "settle_steps": 128, "target_depth": 0.03156829009481081, "target_x": 0.0008942293853850137, "target_y":... | trajectories/p00030_TASK.npz | 652dbadcc0c70d86e9bf1a9c3bbb3801142e7e306e489e9be34cf21ae18c4402 | 328 | 0d5fe3b65ac8a7ea | snapshots/p00030.npy | 0d5fe3b65ac8a7ead747aa43c86816dee64de274529892a2e6cfd59951934366 | 0 | 0.000572 | 0.000773 | 4.109624 | -0.027428 | 0.000727 | -1.109624 | -0.979587 | misaligned |
p00031 | 20,031 | {"tilt_x_deg": -0.10041926545320834, "tilt_y_deg": 4.680190738106871, "x": 0.003300959125124304, "y": 0.002197933241397051, "z": 0.1324316102984453} | {"clearance": 0.0012834138156424025, "contact_dampratio": 1.0613895703427927, "contact_timeconst": 0.005854814573552342, "contact_width": 0.0012752690617821596, "friction": 0.5498437769018367} | {"actuation_noise": 0.011817542850984209, "angular_kp": 0.09410367626931754, "axial_kp": 31.60428216330535, "controller_noise": 0.004881212506839381, "lateral_kp": 21.974719048048236, "max_force": 0.7236308962651723, "settle_steps": 133, "target_depth": 0.027648399222480583, "target_x": -0.00022006891224852793, "target... | trajectories/p00031_TASK.npz | d2a59c7028a9684c7f64b2d8f0c8996a922e09584fe2d1adea81f999f905a2f3 | 412 | 59e9705effb95ded | snapshots/p00031.npy | 59e9705effb95deda458a5c58f96a391a60ab1e9de123e6c132b7ea0c5b5d34f | 0 | 0.02758 | 0.000389 | 1.241072 | -0.00042 | 0.001111 | 1.758928 | -0.015005 | near-success |
p00032 | 20,032 | {"tilt_x_deg": -1.8284407063250558, "tilt_y_deg": 5.882818567410407, "x": -0.0020017116524579347, "y": -0.0031955100136242783, "z": 0.12890090911704738} | {"clearance": 0.0004870954623110781, "contact_dampratio": 1.1334865652096437, "contact_timeconst": 0.007884106076319362, "contact_width": 0.0009376713225312441, "friction": 0.5960289759603121} | {"actuation_noise": 0.01383675032505339, "angular_kp": 0.1187382326195156, "axial_kp": 39.961452849215064, "controller_noise": 0.006320146577746533, "lateral_kp": 18.260043192195397, "max_force": 0.8687197230402623, "settle_steps": 132, "target_depth": 0.03065779227954739, "target_x": -0.0007600081027089095, "target_y"... | trajectories/p00032_TASK.npz | 6d430656f970ea9d343c9c77f5a01d7c0ace8c677414a7a789cfb800aa24f8b4 | 410 | 73f49c8a3921b7ea | snapshots/p00032.npy | 73f49c8a3921b7ea2970cf38340248f790a1c1f91f37a849b57a023a915a738d | 0 | -0.000133 | 0.004138 | 1.086028 | -0.028133 | -0.002638 | 1.913972 | -1.758537 | misaligned |
p00033 | 20,033 | {"tilt_x_deg": 5.662387143385741, "tilt_y_deg": -5.56792584721384, "x": 0.0015005759226126318, "y": -0.002708771601742311, "z": 0.12631360190254762} | {"clearance": 0.0014558965216804507, "contact_dampratio": 0.8410749836023057, "contact_timeconst": 0.006226373068621552, "contact_width": 0.0011883565287574686, "friction": 0.3060644161229174} | {"actuation_noise": 0.014514144700837435, "angular_kp": 0.07420297587818983, "axial_kp": 25.977407411764776, "controller_noise": 0.009160501483669281, "lateral_kp": 29.566722201461044, "max_force": 0.9719050945534098, "settle_steps": 126, "target_depth": 0.028610829053776758, "target_x": 0.002000361474916157, "target_y... | trajectories/p00033_TASK.npz | 637a290393c6913229fc93e7dd60129f48a814497cd0b3dce745451c014fc5fe | 333 | c1a3fa434cab914b | snapshots/p00033.npy | c1a3fa434cab914bab7c85cc3946bb49e1b9bc2db40afe3e6bacaca3c5efdf36 | 0 | 0.000431 | 0.00116 | 5.038843 | -0.027569 | 0.00034 | -2.038843 | -0.984621 | misaligned |
p00034 | 20,034 | {"tilt_x_deg": -3.6533925132491527, "tilt_y_deg": -0.3815649984234497, "x": -0.005995976851335297, "y": -0.00042869860815705416, "z": 0.128755785733516} | {"clearance": 0.001311686146326435, "contact_dampratio": 0.9026357086159267, "contact_timeconst": 0.007316319157801176, "contact_width": 0.0010717415522833256, "friction": 0.5144316538023346} | {"actuation_noise": 0.0046034089619278245, "angular_kp": 0.08697726267705239, "axial_kp": 26.451943495039945, "controller_noise": 0.018440593073160243, "lateral_kp": 19.56132820045512, "max_force": 0.7141597854185933, "settle_steps": 135, "target_depth": 0.025387718319243857, "target_x": 0.0002778205881627648, "target_... | trajectories/p00034_TASK.npz | bba7a761e80036eeefa12d1911741b880a27008b6624be36a9f1bf7825239cbb | 317 | 0f1c4a6752f91cfa | snapshots/p00034.npy | 0f1c4a6752f91cfa0daedc277bbad6bbbc50e9fabfadccb048674e3d9d5c5abe | 0 | 0.000072 | 0.001892 | 1.981118 | -0.027928 | -0.000392 | 1.018882 | -0.997436 | misaligned |
p00035 | 20,035 | {"tilt_x_deg": -4.549971400595734, "tilt_y_deg": -0.9647590585380303, "x": 0.0016568867908882644, "y": -0.0027525271189868987, "z": 0.12359527495028882} | {"clearance": 0.0011185104023727496, "contact_dampratio": 0.9955715558409584, "contact_timeconst": 0.005115790083715272, "contact_width": 0.0010356741351176333, "friction": 0.7224139182914411} | {"actuation_noise": 0.0016153736340585834, "angular_kp": 0.06380203760910881, "axial_kp": 36.889952183049026, "controller_noise": 0.022087779569620783, "lateral_kp": 18.02242102673388, "max_force": 0.9991864901100262, "settle_steps": 131, "target_depth": 0.027871493219773433, "target_x": -0.000869660466537116, "target_... | trajectories/p00035_TASK.npz | 517fea87d1ecd535d2079fb88ba6b27ec6737931f931393f8e9d0f2209cad531 | 337 | d74a54c19d418f1d | snapshots/p00035.npy | d74a54c19d418f1d01a350530a5caf37cc5191cd206c9e9ab5f3d9479a6182ef | 0 | 0.00088 | 0.000622 | 6.486007 | -0.02712 | 0.000878 | -3.486007 | -1.162002 | misaligned |
p00036 | 20,036 | {"tilt_x_deg": -1.6471190725469143, "tilt_y_deg": -5.883545218310439, "x": 0.002763364469845573, "y": 0.005575299058975521, "z": 0.1288438289106094} | {"clearance": 0.0014790275469582944, "contact_dampratio": 0.9799316651233891, "contact_timeconst": 0.00773156373206305, "contact_width": 0.0011358435768566624, "friction": 0.6143771549970696} | {"actuation_noise": 0.013694077836263377, "angular_kp": 0.0404773134946328, "axial_kp": 25.85897138607354, "controller_noise": 0.007048218069381063, "lateral_kp": 21.90560537938581, "max_force": 0.9609299726008166, "settle_steps": 116, "target_depth": 0.026009365582714383, "target_x": -0.0013592340260483043, "target_y"... | trajectories/p00036_TASK.npz | 54e083392e416024edab2f668bbd99785e210c54b5c0b203f00e778f4a2fe6d1 | 338 | 5badd7b0e83f0bfb | snapshots/p00036.npy | 5badd7b0e83f0bfbe0c1781b2a2aa0128e5d394e6a8be89e21e6e5abbc750af2 | 0 | -0.000255 | 0.002963 | 2.977961 | -0.028255 | -0.001463 | 0.022039 | -1.009104 | misaligned |
p00037 | 20,037 | {"tilt_x_deg": -4.372923369485676, "tilt_y_deg": -5.815133204720176, "x": 0.0059350316183723485, "y": -0.0023120535444360038, "z": 0.13225962549069015} | {"clearance": 0.0015581830685528302, "contact_dampratio": 1.0167134042347237, "contact_timeconst": 0.004641786046660025, "contact_width": 0.0012416625624021484, "friction": 0.6809628071155207} | {"actuation_noise": 0.018678343951624668, "angular_kp": 0.11056436027466507, "axial_kp": 41.282166532280044, "controller_noise": 0.017889478672137266, "lateral_kp": 29.241774597568067, "max_force": 0.7115843663770453, "settle_steps": 120, "target_depth": 0.030578953114190826, "target_x": -0.0007867028921876851, "target... | trajectories/p00037_TASK.npz | 962f8050a628cb99a3823311f3445ca4824524a09116b405b540f6e10c8f5b1d | 393 | 6ed113f8f9416541 | snapshots/p00037.npy | 6ed113f8f9416541b87e180d4e0462060a9eab51db9cc4681eedd3e18ffa45bd | 0 | -0.000104 | 0.003204 | 2.378348 | -0.028104 | -0.001704 | 0.621652 | -1.136147 | misaligned |
p00038 | 20,038 | {"tilt_x_deg": 5.83428739452247, "tilt_y_deg": 1.7363881248763366, "x": 0.0039262453301133985, "y": -0.004596824711279962, "z": 0.1301684626176426} | {"clearance": 0.0005490797328014936, "contact_dampratio": 0.8558042807840149, "contact_timeconst": 0.006470584619458618, "contact_width": 0.0007228177960686367, "friction": 0.7583091847584205} | {"actuation_noise": 0.0147730923421843, "angular_kp": 0.04903800696031057, "axial_kp": 37.12978235628571, "controller_noise": 0.010772551879766721, "lateral_kp": 20.684931818640962, "max_force": 0.963216754968962, "settle_steps": 130, "target_depth": 0.03180363616439683, "target_x": -0.00031723542827052096, "target_y":... | trajectories/p00038_TASK.npz | 617371f739daadf84855983ff1d6a402a677859beef8a92ba6ec91376c377af7 | 419 | 093a381fdacfabfd | snapshots/p00038.npy | 093a381fdacfabfd545cad6c0333c78c93951ef8194db877587e008f742e7b2d | 0 | 0.000526 | 0.000521 | 4.19328 | -0.027474 | 0.000979 | -1.19328 | -0.98123 | misaligned |
p00039 | 20,039 | {"tilt_x_deg": 1.1723788006343652, "tilt_y_deg": -2.9232317409353765, "x": 0.0042039344891283414, "y": 0.0002977035369992921, "z": 0.1305421819280201} | {"clearance": 0.0010609608347627497, "contact_dampratio": 0.9002814294066511, "contact_timeconst": 0.00664812511367752, "contact_width": 0.0011535755478943074, "friction": 0.27854570772747833} | {"actuation_noise": 0.010892923292971923, "angular_kp": 0.11668420548982761, "axial_kp": 37.99853765038511, "controller_noise": 0.01821669026012344, "lateral_kp": 26.494955367808668, "max_force": 0.7266228062591429, "settle_steps": 107, "target_depth": 0.030386040838522803, "target_x": 0.0019687915307819806, "target_y"... | trajectories/p00039_TASK.npz | 0085af44b04ceac11033e992e8ce5cf16e578dc7632fdcf02f04349ac1067601 | 372 | a2987d43e83bf194 | snapshots/p00039.npy | a2987d43e83bf1943f72de033995768db11091487f2340d85eedf16c45070d27 | 0 | 0.000256 | 0.001661 | 2.795863 | -0.027744 | -0.000161 | 0.204137 | -0.990852 | misaligned |
p00040 | 20,040 | {"tilt_x_deg": 3.0631093885354836, "tilt_y_deg": -2.859674158402942, "x": 0.004333641882351082, "y": -0.00022291377679949358, "z": 0.12356899041113294} | {"clearance": 0.0008594787158097, "contact_dampratio": 0.8935147183839962, "contact_timeconst": 0.004697835735901242, "contact_width": 0.000896827128565354, "friction": 0.6566275366549076} | {"actuation_noise": 0.00731366218786569, "angular_kp": 0.07453491977845994, "axial_kp": 40.36088814857409, "controller_noise": 0.00024406980613358997, "lateral_kp": 29.75460598803704, "max_force": 0.6851969988198403, "settle_steps": 104, "target_depth": 0.02503172652748688, "target_x": 0.00041233172672906163, "target_y... | trajectories/p00040_TASK.npz | eecc8def28cc3d9ff64857c59cee1f7b1ae44cba485e7b003a144b389810fab0 | 337 | 3d96d8009bb8c056 | snapshots/p00040.npy | 3d96d8009bb8c05606cfe6fbc74ebf6283c4df1407bcd9629ef19eb52accc760 | 0 | 0.000392 | 0.001148 | 3.90626 | -0.027608 | 0.000352 | -0.90626 | -0.986004 | misaligned |
p00041 | 20,041 | {"tilt_x_deg": 1.2485642692404308, "tilt_y_deg": 3.897366449528157, "x": 0.004787158658710763, "y": 0.004414055807859056, "z": 0.125261714072317} | {"clearance": 0.0016839553198824584, "contact_dampratio": 0.9597111312520901, "contact_timeconst": 0.007167996372157124, "contact_width": 0.0010179992349966557, "friction": 0.7700886707811829} | {"actuation_noise": 0.007152596938588365, "angular_kp": 0.043024893772130764, "axial_kp": 22.35600055137471, "controller_noise": 0.00405743363281686, "lateral_kp": 15.138728163384473, "max_force": 0.9248280581499708, "settle_steps": 109, "target_depth": 0.029595459765017977, "target_x": 7.647327408351464e-05, "target_y... | trajectories/p00041_TASK.npz | 50e2b1adf374b8e5a4ab657403c011f8b7a11e07ca22992af843f6f0e207d518 | 346 | 1178e74e4d4b58b8 | snapshots/p00041.npy | 1178e74e4d4b58b84fc22cdbb1c5e3a188fd3c1afde742580d33127424630e07 | 0 | 0.000407 | 0.002412 | 3.666354 | -0.027593 | -0.000912 | -0.666354 | -0.985475 | misaligned |
p00042 | 20,042 | {"tilt_x_deg": 3.8590766468007853, "tilt_y_deg": -1.0071882790516895, "x": 0.003187640469552071, "y": -0.003036058202055137, "z": 0.12972870445763054} | {"clearance": 0.0013120059260487865, "contact_dampratio": 0.9170090198247303, "contact_timeconst": 0.0047104953257640905, "contact_width": 0.00126309310092828, "friction": 0.5183410065824274} | {"actuation_noise": 0.015628030953010578, "angular_kp": 0.06443825066856737, "axial_kp": 36.496083354385206, "controller_noise": 0.006578199567778251, "lateral_kp": 30.03211276225494, "max_force": 0.7314212870861594, "settle_steps": 130, "target_depth": 0.031602328362757795, "target_x": 0.0006191634222127277, "target_y... | trajectories/p00042_TASK.npz | c1cc3adf4fa981ef3cd50b41a0ba8486b069d83f0e0d04525900e150c4c823e4 | 406 | 6575ea45da486f47 | snapshots/p00042.npy | 6575ea45da486f472922ac724ab1f04a57649c640e79152bc81cd02a5fee0d7b | 0 | 0.00047 | 0.000978 | 3.844425 | -0.02753 | 0.000522 | -0.844425 | -0.983228 | misaligned |
p00043 | 20,043 | {"tilt_x_deg": -0.9193895731173587, "tilt_y_deg": -3.028819803028479, "x": 0.0009219267282540413, "y": -0.0008417087974580224, "z": 0.12490445556750167} | {"clearance": 0.0011254723662504963, "contact_dampratio": 1.1044002420713854, "contact_timeconst": 0.006289182796456543, "contact_width": 0.0007359576358827398, "friction": 0.6643450943257998} | {"actuation_noise": 0.016601363080630333, "angular_kp": 0.11228578297241668, "axial_kp": 31.247082917585445, "controller_noise": 0.012664379825506425, "lateral_kp": 26.18001808322974, "max_force": 1.0176788869614732, "settle_steps": 127, "target_depth": 0.02541551150910017, "target_x": 0.0015299871497100833, "target_y"... | trajectories/p00043_TASK.npz | bf1acb25da49f9b0f30bd1d8f3545a98727911f418da0cfc30a160e81969c130 | 338 | 283f8514482cfde1 | snapshots/p00043.npy | 283f8514482cfde1f96501e7e4d5f3e1b6f154adf2ec148f87e7ebe9ec44cc44 | 0 | 0.000348 | 0.00137 | 3.016894 | -0.027652 | 0.00013 | -0.016894 | -0.987583 | misaligned |
p00044 | 20,044 | {"tilt_x_deg": 3.9493901001328062, "tilt_y_deg": -1.6985946883576561, "x": 0.0007993445172455914, "y": -0.0032314013133909253, "z": 0.13333433774328252} | {"clearance": 0.0016312663861407204, "contact_dampratio": 0.8672799423686081, "contact_timeconst": 0.005417203594194327, "contact_width": 0.0012940258830025253, "friction": 0.47916665493866073} | {"actuation_noise": 0.016670647646127548, "angular_kp": 0.10051605066275565, "axial_kp": 34.22076979540762, "controller_noise": 0.0011119205943831312, "lateral_kp": 14.790143685543576, "max_force": 0.7276348667758303, "settle_steps": 130, "target_depth": 0.025845199694249484, "target_x": -0.00021351302820662738, "targe... | trajectories/p00044_TASK.npz | 5a95a6842a0d9bf39444ef4461b988678d768785eea34139453597e108942142 | 378 | 149a92a2fed58278 | snapshots/p00044.npy | 149a92a2fed58278a96e0beef264b72703ace73e742c2e3a1efb7aa0766a4d0d | 0 | 0.025653 | 0.001605 | 1.255583 | -0.002347 | -0.000105 | 1.744417 | -0.083837 | near-success |
p00045 | 20,045 | {"tilt_x_deg": -2.997600718322875, "tilt_y_deg": 2.5871640407166776, "x": -0.004565683476892008, "y": -0.003562024025984938, "z": 0.1340634415821848} | {"clearance": 0.0010258010416500075, "contact_dampratio": 0.9118764766653437, "contact_timeconst": 0.006270291876501466, "contact_width": 0.0011465392956554019, "friction": 0.6048961636377492} | {"actuation_noise": 0.019324227973221704, "angular_kp": 0.11751359737361397, "axial_kp": 34.66915324686785, "controller_noise": 0.0052770601158757344, "lateral_kp": 27.856852178374588, "max_force": 0.8922507149894698, "settle_steps": 108, "target_depth": 0.02920359470479956, "target_x": -0.0019083774046527058, "target_... | trajectories/p00045_TASK.npz | 92f25eb52b5a4d3e3113be815a693a84ce0239d72312813a496c70ed1a4c1d79 | 361 | 0b8d68af87b56fef | snapshots/p00045.npy | 0b8d68af87b56fefb71b5b18e706f1ed0845073b6d1b78d16e1c2666292820c1 | 0 | 0.000267 | 0.002018 | 3.148746 | -0.027733 | -0.000518 | -0.148746 | -0.990457 | misaligned |
p00046 | 20,046 | {"tilt_x_deg": 1.798470986817982, "tilt_y_deg": 0.39301243950441567, "x": -0.0033501256529292764, "y": -0.003269775138921969, "z": 0.13170796764279497} | {"clearance": 0.0006535714255772032, "contact_dampratio": 1.04182303806194, "contact_timeconst": 0.004751953861131412, "contact_width": 0.0011431162940129633, "friction": 0.44466139232135604} | {"actuation_noise": 0.010579575651648292, "angular_kp": 0.11097276765257474, "axial_kp": 38.43531425948986, "controller_noise": 0.011569138611879233, "lateral_kp": 23.837845739039256, "max_force": 0.6577308483611302, "settle_steps": 109, "target_depth": 0.03183731494153382, "target_x": 0.0006391784352279169, "target_y"... | trajectories/p00046_TASK.npz | 9b78cc1a7c6808db65d60e496e61f073a9cf2597f074cfd7f03134e179b0f02d | 377 | 7a87397ba512e794 | snapshots/p00046.npy | 7a87397ba512e794f918fc2f97b63bfd0cf342f6dffc1c1a7622b45ce8663071 | 1 | 0.031953 | 0.000868 | 0.127435 | 0.003953 | 0.000632 | 2.872565 | 0.14119 | successful |
p00047 | 20,047 | {"tilt_x_deg": 1.8217819578146415, "tilt_y_deg": 4.812291330623379, "x": -0.0011277313789307252, "y": -0.004759881254485717, "z": 0.1261348490160644} | {"clearance": 0.0009706765075221308, "contact_dampratio": 0.8542642472787064, "contact_timeconst": 0.0064301563084357485, "contact_width": 0.0011851389433416059, "friction": 0.37380577455758723} | {"actuation_noise": 0.01192841573458242, "angular_kp": 0.07639831816244277, "axial_kp": 26.06086171568809, "controller_noise": 0.02363829685381929, "lateral_kp": 23.504175850983092, "max_force": 1.0409084421579287, "settle_steps": 109, "target_depth": 0.03175036702578277, "target_x": 0.0012760500500542528, "target_y": ... | trajectories/p00047_TASK.npz | ac710834d99fa0cefb8dfb81e056edb286b9236a03baf250668d73899df030ea | 291 | 38d522cc6bf9457d | snapshots/p00047.npy | 38d522cc6bf9457d2664005ad11360e8699eb9c37e2880f63bf1aca2a954f711 | 0 | 0.000688 | 0.000766 | 5.083395 | -0.027312 | 0.000734 | -2.083395 | -0.975423 | misaligned |
p00048 | 20,048 | {"tilt_x_deg": -2.9281371733438344, "tilt_y_deg": -1.7671527707316432, "x": -0.0007386509435150833, "y": 0.0043981892457368305, "z": 0.13440251106009674} | {"clearance": 0.0013454603944123122, "contact_dampratio": 0.9160812098935327, "contact_timeconst": 0.0075748096201048885, "contact_width": 0.0008304129103445369, "friction": 0.7647150646496049} | {"actuation_noise": 0.01139111039491367, "angular_kp": 0.05557933294449272, "axial_kp": 22.30972943719692, "controller_noise": 0.01940669891395081, "lateral_kp": 12.26865430546579, "max_force": 0.6701197124063573, "settle_steps": 115, "target_depth": 0.030104849862242572, "target_x": 0.0019947090907516895, "target_y": ... | trajectories/p00048_TASK.npz | f458cfddb875b4a13a5a67a980a65e9a4a54d6a038014b7f95049a358a3c02d4 | 318 | 233373825d858ac5 | snapshots/p00048.npy | 233373825d858ac5725fd423141636bafda736276f870806366621e4093e1293 | 1 | 0.030497 | 0.001151 | 1.807528 | 0.002497 | 0.000349 | 1.192472 | 0.089175 | successful |
p00049 | 20,049 | {"tilt_x_deg": 4.33559846762892, "tilt_y_deg": -5.800558106092027, "x": -0.00466231027586241, "y": 0.0008460199608071126, "z": 0.12603833132495565} | {"clearance": 0.0005150128676059243, "contact_dampratio": 0.8789488559276382, "contact_timeconst": 0.00744962424978006, "contact_width": 0.0010915595264620846, "friction": 0.596820915163739} | {"actuation_noise": 0.000833846065425723, "angular_kp": 0.0903582919481429, "axial_kp": 41.49901709676578, "controller_noise": 0.010692395922168297, "lateral_kp": 30.10241389506263, "max_force": 0.7860081362702808, "settle_steps": 102, "target_depth": 0.031264707835132396, "target_x": -0.001914187761063503, "target_y":... | trajectories/p00049_TASK.npz | 07665792619e069b7be404a70dbe48c5715b95f84b6227ddb28fbbc4d27eebf5 | 342 | 1fc03082299b8810 | snapshots/p00049.npy | 1fc03082299b88102631d8f2140f966846189ff4eb57789bbe6552c20489755b | 0 | 0.000626 | 0.000606 | 4.49088 | -0.027374 | 0.000894 | -1.49088 | -0.977642 | misaligned |
p00050 | 20,050 | {"tilt_x_deg": -0.44998727858938636, "tilt_y_deg": -3.6678033580626197, "x": 0.0026734426800888115, "y": -0.00439366090229856, "z": 0.12756203036095834} | {"clearance": 0.0011465042913658082, "contact_dampratio": 0.9521284160901308, "contact_timeconst": 0.007702284166605515, "contact_width": 0.000857900447865342, "friction": 0.5782479141144117} | {"actuation_noise": 0.017186731009598416, "angular_kp": 0.07684551454279745, "axial_kp": 23.522919594228604, "controller_noise": 0.004131898374736898, "lateral_kp": 24.974818449930634, "max_force": 0.8480290354516602, "settle_steps": 131, "target_depth": 0.027068454962932607, "target_x": -2.3947497306704355e-05, "targe... | trajectories/p00050_TASK.npz | ee61596218c55ae7fa515e85b6380522acf156724252713ea54797ed3edcccf2 | 358 | f7b49afaea2ea2c5 | snapshots/p00050.npy | f7b49afaea2ea2c51b65e13e515c1b78f45ec5866da09e54a4b1935b169ba63e | 0 | 0.000549 | 0.001043 | 4.045849 | -0.027451 | 0.000457 | -1.045849 | -0.980379 | misaligned |
p00051 | 20,051 | {"tilt_x_deg": 5.255701262355586, "tilt_y_deg": 3.0974161345456324, "x": -0.004787542750969764, "y": -0.005768846559829437, "z": 0.12878588616905529} | {"clearance": 0.0013680910331056511, "contact_dampratio": 1.094192591998351, "contact_timeconst": 0.005424897491311758, "contact_width": 0.001288711062223647, "friction": 0.35867981826943063} | {"actuation_noise": 0.0025642033519485373, "angular_kp": 0.09218403060884489, "axial_kp": 34.60215914011504, "controller_noise": 0.01677222671066866, "lateral_kp": 16.63663658858735, "max_force": 0.8202279432372466, "settle_steps": 120, "target_depth": 0.027645997348946162, "target_x": 0.0021582156010459944, "target_y"... | trajectories/p00051_TASK.npz | d6178243437e77bb22e1033a519fef9a0ee50a2bc066e4196f869dfa2cd9841e | 344 | f37c73995b704d83 | snapshots/p00051.npy | f37c73995b704d83e8f6aa3da6de02ab28a051398e24bc9a252cd6041faf0f57 | 0 | -0.000067 | 0.003983 | 0.148153 | -0.028067 | -0.002483 | 2.851847 | -1.655431 | misaligned |
p00052 | 20,052 | {"tilt_x_deg": -2.9325507163514306, "tilt_y_deg": 3.9059981087238906, "x": 0.0040205460557634545, "y": 0.0039787142933100025, "z": 0.13210556315713962} | {"clearance": 0.0007524150276423287, "contact_dampratio": 0.9141394183694073, "contact_timeconst": 0.007421862294127117, "contact_width": 0.0012099124952886045, "friction": 0.4234807153584966} | {"actuation_noise": 0.019232924114854374, "angular_kp": 0.06051367847611001, "axial_kp": 40.95697280471046, "controller_noise": 0.023285209384793046, "lateral_kp": 28.80457849024232, "max_force": 0.8288622444371342, "settle_steps": 125, "target_depth": 0.02502902540207632, "target_x": -0.00043994061270711355, "target_y... | trajectories/p00052_TASK.npz | da0424e141afccd4ca10c378425a0b824deeb3f3ce2ea8f9a49ebbf947512925 | 406 | 4303bcaafa35567e | snapshots/p00052.npy | 4303bcaafa35567e368d4661b6d77cfa05b8dafcaedbbe3d9e32b4796036c129 | 0 | 0.025061 | 0.000547 | 1.611178 | -0.002939 | 0.000953 | 1.388822 | -0.104953 | near-success |
p00053 | 20,053 | {"tilt_x_deg": 1.2878311812264975, "tilt_y_deg": 1.860035020709871, "x": 0.00459693977969719, "y": -0.00542198958699726, "z": 0.13003338995647523} | {"clearance": 0.0009905783362681132, "contact_dampratio": 1.0339000694159974, "contact_timeconst": 0.007985449520282063, "contact_width": 0.0009543552501704156, "friction": 0.4675755431230595} | {"actuation_noise": 0.017677777602463692, "angular_kp": 0.11580369822848322, "axial_kp": 29.925133308489333, "controller_noise": 0.022020490476379096, "lateral_kp": 18.539631660147005, "max_force": 0.8398840190199688, "settle_steps": 107, "target_depth": 0.025790156374434513, "target_x": -0.0009289931097155851, "target... | trajectories/p00053_TASK.npz | e0083a33443ae3d208d3c8c26fc034335bcaf626000cff76e8968fd055e2c6c2 | 389 | 14b25cb7f9ae766d | snapshots/p00053.npy | 14b25cb7f9ae766ddb454c521eae1d4897364c498562a9b0ecdc626768d88a79 | 0 | 0.00034 | 0.000872 | 2.770254 | -0.02766 | 0.000628 | 0.229746 | -0.98786 | under-inserted |
p00054 | 20,054 | {"tilt_x_deg": 1.5355724191154607, "tilt_y_deg": 4.820997444485485, "x": 0.005407683361263871, "y": -0.0015779712304265702, "z": 0.13151076334537481} | {"clearance": 0.0009608593155012888, "contact_dampratio": 0.8208132465951179, "contact_timeconst": 0.005575437583322851, "contact_width": 0.0008018029215260649, "friction": 0.6558225172372103} | {"actuation_noise": 0.01652883564760698, "angular_kp": 0.1010192187743218, "axial_kp": 35.528528492186254, "controller_noise": 0.014247241025227493, "lateral_kp": 21.76219416025063, "max_force": 0.8913145691240627, "settle_steps": 108, "target_depth": 0.02858423037729152, "target_x": 0.001208035596413744, "target_y": 0... | trajectories/p00054_TASK.npz | c3b0393ebc606fa2690c2bba7982547208f3b0692fa4db99ea6ff5df110b5429 | 292 | 5bd782ee8f51138b | snapshots/p00054.npy | 5bd782ee8f51138bdf221e759503d645fe30654a794a21036e9a836f2e3eb7cc | 0 | -0.000125 | 0.001101 | 0.530493 | -0.028125 | 0.000399 | 2.469507 | -1.004456 | under-inserted |
p00055 | 20,055 | {"tilt_x_deg": -0.5928667518813517, "tilt_y_deg": -5.153734383409723, "x": -0.0025464117264150784, "y": -0.00484284464915549, "z": 0.12923003427911867} | {"clearance": 0.0011462497132025018, "contact_dampratio": 0.9919657085115371, "contact_timeconst": 0.007871873983060404, "contact_width": 0.0009001214923521235, "friction": 0.7951686181176486} | {"actuation_noise": 0.017037778004402697, "angular_kp": 0.11321503182035833, "axial_kp": 31.897350067644933, "controller_noise": 0.01993959915395573, "lateral_kp": 20.612770238843435, "max_force": 0.7771684080536161, "settle_steps": 122, "target_depth": 0.02519871764863752, "target_x": 0.002153679468658892, "target_y":... | trajectories/p00055_TASK.npz | d650e2ee5565210e71cb1e3be9fcda789e20aae261ddbdf87e657e725f63241a | 398 | ede1d07345991f0b | snapshots/p00055.npy | ede1d07345991f0b584e54c4ee1aa22ab6139d8c7a97d944d4730e17879f4a90 | 0 | 0.000499 | 0.001112 | 3.475473 | -0.027501 | 0.000388 | -0.475473 | -0.982186 | misaligned |
p00056 | 20,056 | {"tilt_x_deg": 4.3877430681464205, "tilt_y_deg": 2.9966403157198513, "x": -0.0009715915236370703, "y": 0.0007481800860586613, "z": 0.1263827732088239} | {"clearance": 0.0007308745365469297, "contact_dampratio": 0.9731599802260518, "contact_timeconst": 0.00480096916136264, "contact_width": 0.0012422312359314193, "friction": 0.3094696978310678} | {"actuation_noise": 0.005255838888850852, "angular_kp": 0.049455712652703425, "axial_kp": 31.579604171612022, "controller_noise": 0.004992707239463304, "lateral_kp": 17.153331795795445, "max_force": 0.7155316795354024, "settle_steps": 106, "target_depth": 0.02835485848080804, "target_x": 5.0990958581448916e-05, "target... | trajectories/p00056_TASK.npz | 65028a69619b414247a1585bb37bbadcf502b27779108eea9fdfb3bf5bfbfca7 | 291 | 30c05ec8bf7e55a1 | snapshots/p00056.npy | 30c05ec8bf7e55a1aa4a0bf1b07e8121ef43f8f7193f6c821a8e4dadf310962a | 0 | -0.000069 | 0.001113 | 3.772104 | -0.028069 | 0.000387 | -0.772104 | -1.002475 | misaligned |
p00057 | 20,057 | {"tilt_x_deg": -1.5330232527617085, "tilt_y_deg": 3.2790485637843503, "x": 0.001175384330764511, "y": 0.001019129973110473, "z": 0.13230294858054825} | {"clearance": 0.0016180441198597516, "contact_dampratio": 0.926464309740106, "contact_timeconst": 0.007710954283607621, "contact_width": 0.0012086245673424176, "friction": 0.6471935662729169} | {"actuation_noise": 0.005116231374135889, "angular_kp": 0.0925120859043772, "axial_kp": 27.47505829063542, "controller_noise": 0.007136477108404635, "lateral_kp": 18.16577193512259, "max_force": 0.5640297253888165, "settle_steps": 112, "target_depth": 0.02693542692517857, "target_x": -0.0017711890836499362, "target_y":... | trajectories/p00057_TASK.npz | d4784c5b694372009ff671ec582f6ccb43404a0e4bcb8a12c786f8f5613be3f4 | 354 | e7860d291c58d999 | snapshots/p00057.npy | e7860d291c58d99939969848ea358953bc96bc2ee09fe76a22c2695ec3f95660 | 0 | 0.027038 | 0.001283 | 1.061868 | -0.000962 | 0.000217 | 1.938132 | -0.034347 | near-success |
p00058 | 20,058 | {"tilt_x_deg": 5.568443799575203, "tilt_y_deg": 0.956922079039007, "x": -0.0003970051463127681, "y": 0.0037611410336195993, "z": 0.12639162681078267} | {"clearance": 0.0015271040905868846, "contact_dampratio": 0.8712149220997742, "contact_timeconst": 0.0061154485527431255, "contact_width": 0.0011552717238098797, "friction": 0.6416735675514134} | {"actuation_noise": 0.005173001312867584, "angular_kp": 0.09845972675471733, "axial_kp": 23.261260831463535, "controller_noise": 0.008071957673669616, "lateral_kp": 24.372337829279658, "max_force": 0.9146303863573404, "settle_steps": 125, "target_depth": 0.026674715349449988, "target_x": -0.00042510786302318426, "targe... | trajectories/p00058_TASK.npz | a041158a134102c2a1bc946a62d259e8181971fc91667cb3d84c239a3ed263af | 416 | b48994a8ececd70f | snapshots/p00058.npy | b48994a8ececd70f3580ca9c71280f878d8547df51d2eef57061cc29b6b39c4d | 0 | 0.000674 | 0.000904 | 4.529385 | -0.027326 | 0.000596 | -1.529385 | -0.975931 | misaligned |
p00059 | 20,059 | {"tilt_x_deg": 4.56540638421199, "tilt_y_deg": -2.946688693108121, "x": -0.0029415231804514733, "y": -0.005687102287609666, "z": 0.1283771142885022} | {"clearance": 0.0008712914629475071, "contact_dampratio": 1.1408416347959478, "contact_timeconst": 0.004621222370206514, "contact_width": 0.0007388482634165367, "friction": 0.5106285011761525} | {"actuation_noise": 0.009661987491788053, "angular_kp": 0.08254332543310691, "axial_kp": 40.09480124347124, "controller_noise": 0.013018352468231542, "lateral_kp": 31.376423478048125, "max_force": 0.7016710388395542, "settle_steps": 129, "target_depth": 0.02520129591958952, "target_x": -0.00015475797465939198, "target_... | trajectories/p00059_TASK.npz | 05c67f27a60cfdec5f20f03353674ff07c9e4415af43924974e43b148892253d | 325 | 0b9a2f82f18c47ec | snapshots/p00059.npy | 0b9a2f82f18c47ec8e83faa9330ba26ca170a12ba5b932963bb7ad20ad23a28a | 0 | 0.024395 | 0.000125 | 2.309494 | -0.003605 | 0.001375 | 0.690506 | -0.128736 | near-success |
p00060 | 20,060 | {"tilt_x_deg": -2.466334817367165, "tilt_y_deg": -1.588271295199851, "x": 0.0013115770120813225, "y": 0.004980217276480082, "z": 0.12510777104930618} | {"clearance": 0.0005477028400693298, "contact_dampratio": 1.0846177874195058, "contact_timeconst": 0.005800818455782299, "contact_width": 0.0012055054981624919, "friction": 0.797272156167118} | {"actuation_noise": 0.005029073150699022, "angular_kp": 0.05080721094441718, "axial_kp": 29.03413397517786, "controller_noise": 0.002831723957092805, "lateral_kp": 24.228065965356148, "max_force": 1.0206439465861128, "settle_steps": 119, "target_depth": 0.03312938833666997, "target_x": 0.0017839446692948509, "target_y"... | trajectories/p00060_TASK.npz | 54c008533b61616efc50b7e7c5a09041a8ea9481a31d59af5eacf47ddf259a93 | 388 | 05aba512167ad870 | snapshots/p00060.npy | 05aba512167ad87001d25b9ffc0558e460e21abbc2a7aa3e39e5bfaf3e8eb96d | 0 | -0.00007 | 0.002737 | 0.121311 | -0.02807 | -0.001237 | 2.878689 | -1.002485 | misaligned |
p00061 | 20,061 | {"tilt_x_deg": 2.815734225992337, "tilt_y_deg": -3.503921213772549, "x": 0.00047577360924851847, "y": 0.0031245645845064743, "z": 0.1320793693873841} | {"clearance": 0.0011320003337220818, "contact_dampratio": 0.8317800090083297, "contact_timeconst": 0.005750080690622512, "contact_width": 0.0008826283271105577, "friction": 0.5173680937332761} | {"actuation_noise": 0.01116529165476197, "angular_kp": 0.06149184693399108, "axial_kp": 29.821457134841935, "controller_noise": 0.0024684777875796093, "lateral_kp": 22.236556283030637, "max_force": 0.9633620219296244, "settle_steps": 126, "target_depth": 0.02875973562059631, "target_x": 0.0015622653336120223, "target_y... | trajectories/p00061_TASK.npz | c175af1cf5f54bda01506ab34f06c882fcf0cbb25041cf08bb005df847db3b71 | 416 | 9ab7acd258b4b705 | snapshots/p00061.npy | 9ab7acd258b4b70566d96399658f5155735d71da60e0aef1335bf4e8425c49d9 | 0 | -0.000089 | 0.002277 | 2.412384 | -0.028089 | -0.000777 | 0.587616 | -1.003172 | misaligned |
p00062 | 20,062 | {"tilt_x_deg": 5.2434029465941485, "tilt_y_deg": -5.497652194107651, "x": -0.0017846267517854994, "y": -0.004150356854386533, "z": 0.13449720956686304} | {"clearance": 0.0004897550119583705, "contact_dampratio": 1.164354618502619, "contact_timeconst": 0.007713131992045996, "contact_width": 0.0008226129704912808, "friction": 0.44264928594532993} | {"actuation_noise": 0.009814886961908117, "angular_kp": 0.04506342029079522, "axial_kp": 21.528337971350986, "controller_noise": 0.008101632015103569, "lateral_kp": 25.968658169102852, "max_force": 0.9505954683702065, "settle_steps": 130, "target_depth": 0.029976789411970572, "target_x": -0.001862421136793766, "target_... | trajectories/p00062_TASK.npz | db28bba4d75d1891298e88ee0f4ccef11b906d88e0ff81f4111cc570ee9fb9fe | 348 | dd3abfedfed3dee3 | snapshots/p00062.npy | dd3abfedfed3dee3801e83326c38074ab0a4cef312b041d1d00db505a0ea78e3 | 0 | 0.000411 | 0.000545 | 5.452145 | -0.027589 | 0.000955 | -2.452145 | -0.985309 | misaligned |
p00063 | 20,063 | {"tilt_x_deg": -1.9074621884048337, "tilt_y_deg": 0.7232036074827626, "x": 0.0043097987336447145, "y": 0.0008544796418044828, "z": 0.13419042328691838} | {"clearance": 0.0014595745155895773, "contact_dampratio": 1.09257543130648, "contact_timeconst": 0.004788347521131486, "contact_width": 0.0007617264331313197, "friction": 0.842868893749946} | {"actuation_noise": 0.007231089242172854, "angular_kp": 0.07196969465268044, "axial_kp": 27.024658402174104, "controller_noise": 0.01571984032620796, "lateral_kp": 23.110939036661428, "max_force": 0.671837601853712, "settle_steps": 104, "target_depth": 0.02936712093064693, "target_x": -0.0018733966659523634, "target_y"... | trajectories/p00063_TASK.npz | 11494e98ded4eefeaf1eb5ed75f8cd8edd1168ea8e87c17c244aee06babbf961 | 360 | 0c2e8ac43e1c7f96 | snapshots/p00063.npy | 0c2e8ac43e1c7f9641a09877e499eecd88a70029332298700cbc0b2ad1574feb | 0 | 0.029234 | 0.001847 | 0.616392 | 0.001234 | -0.000347 | 2.383608 | -0.231049 | near-success |
p00064 | 20,064 | {"tilt_x_deg": -4.005630314240669, "tilt_y_deg": -5.650577174101391, "x": -0.0018670817513081403, "y": -0.0010385680601991201, "z": 0.13099481861615714} | {"clearance": 0.0016952191798735754, "contact_dampratio": 1.091378506637891, "contact_timeconst": 0.005228721209013804, "contact_width": 0.0011440889159735905, "friction": 0.2788887887429872} | {"actuation_noise": 0.015129633047845497, "angular_kp": 0.05938632690029476, "axial_kp": 32.16535011918777, "controller_noise": 0.021987967438251103, "lateral_kp": 28.09261894516537, "max_force": 0.8215208525077875, "settle_steps": 118, "target_depth": 0.032072207821200654, "target_x": -0.002309520129751879, "target_y"... | trajectories/p00064_TASK.npz | 1df81e491b1dfb53bafd514b24049c04287d74986ab8ebf71f4fa25c5a9cb26d | 338 | a24fdab36fac3147 | snapshots/p00064.npy | a24fdab36fac31474aa95c1e28ccccd0a784f7b00507a78ec2e414f4151e20fa | 0 | 0.031758 | 0.001488 | 3.421613 | 0.003758 | 0.000012 | -0.421613 | -0.140538 | near-success |
p00065 | 20,065 | {"tilt_x_deg": 2.224689675897995, "tilt_y_deg": 5.548334998495154, "x": 0.0023899351802302484, "y": 0.004271173090448541, "z": 0.1235780482936823} | {"clearance": 0.0009778387301364075, "contact_dampratio": 0.8575055841077488, "contact_timeconst": 0.007006437876849044, "contact_width": 0.001269758210725068, "friction": 0.28381262566299653} | {"actuation_noise": 0.008883688277236835, "angular_kp": 0.0437026832671646, "axial_kp": 33.684283734571956, "controller_noise": 0.01403143493635137, "lateral_kp": 12.338394648307958, "max_force": 0.9613533393138539, "settle_steps": 124, "target_depth": 0.030972517814240114, "target_x": -0.0008488159003457879, "target_y... | trajectories/p00065_TASK.npz | ba9a027ec129216c3d8a1b30befee0967914e3d6c9c9f5c116f69f40441850b4 | 367 | 4fd3b2282fad63da | snapshots/p00065.npy | 4fd3b2282fad63da7276ce1ee773fa2b113aea525585c00f7cbc35ad85cdbd30 | 0 | -0.000081 | 0.001757 | 4.006546 | -0.028081 | -0.000257 | -1.006546 | -1.00288 | misaligned |
p00066 | 20,066 | {"tilt_x_deg": 4.167468201836044, "tilt_y_deg": 3.646058027272039, "x": 0.0041149858976138615, "y": 0.0033272787120740624, "z": 0.1320856014615067} | {"clearance": 0.0017241418070362698, "contact_dampratio": 1.0482702411405085, "contact_timeconst": 0.005460904639260759, "contact_width": 0.001254358647352002, "friction": 0.5739392132903323} | {"actuation_noise": 0.0022008061946400728, "angular_kp": 0.05798442117974863, "axial_kp": 37.66509352793639, "controller_noise": 0.008476848745640793, "lateral_kp": 29.50923791251268, "max_force": 0.5878611768864865, "settle_steps": 140, "target_depth": 0.025248505569616712, "target_x": -0.0011258711943198908, "target_... | trajectories/p00066_TASK.npz | b7498e5f26fe6c3d91e967953f0da2fa295836d0f6f31f9c43cdb22ee0cdd006 | 388 | 691bb3b92299d9f7 | snapshots/p00066.npy | 691bb3b92299d9f7e040000a9aa98e064d39f2d5d49144f92ce3f15acf366fc1 | 0 | 0.025361 | 0.001955 | 2.632088 | -0.002639 | -0.000455 | 0.367912 | -0.303536 | misaligned |
p00067 | 20,067 | {"tilt_x_deg": -1.7808642282449885, "tilt_y_deg": -1.9677694618835027, "x": -0.0016771299989290544, "y": -0.002676798139323275, "z": 0.12810270752616987} | {"clearance": 0.001109066828743412, "contact_dampratio": 0.8632158010883233, "contact_timeconst": 0.006665567602180078, "contact_width": 0.0007795126911738878, "friction": 0.35369606565822287} | {"actuation_noise": 0.007631311337447302, "angular_kp": 0.05108620347485103, "axial_kp": 34.34613795240074, "controller_noise": 0.0047943540726437285, "lateral_kp": 21.85999191431305, "max_force": 0.9436392921891044, "settle_steps": 103, "target_depth": 0.025955646246796686, "target_x": -0.0006439899946919147, "target_... | trajectories/p00067_TASK.npz | 952997ec5591657897c4dd59ae727cb13522b60381bb75f6fbbbfa3dc89a7125 | 296 | d87fce822d110bfc | snapshots/p00067.npy | d87fce822d110bfccfc38ec587aebfa4fafbf5abba85e5525146ec25866e3a90 | 0 | 0.025553 | 0.001108 | 1.616747 | -0.002447 | 0.000392 | 1.383253 | -0.087383 | near-success |
p00068 | 20,068 | {"tilt_x_deg": -3.139780466436057, "tilt_y_deg": -1.2881885976855205, "x": -0.0010350342298988983, "y": -0.0037631118255657884, "z": 0.1234421424257063} | {"clearance": 0.00044095377563513176, "contact_dampratio": 0.9712659062058648, "contact_timeconst": 0.007571411237173055, "contact_width": 0.0009596255772648611, "friction": 0.7420909670976754} | {"actuation_noise": 0.01032880406636335, "angular_kp": 0.09738765615598952, "axial_kp": 38.138649925977504, "controller_noise": 0.007582409773417282, "lateral_kp": 16.59326791876366, "max_force": 0.5857433931554398, "settle_steps": 121, "target_depth": 0.0308418201611565, "target_x": -0.0023213995601764625, "target_y":... | trajectories/p00068_TASK.npz | 60d9bd94bf67a9183e3f995257006177f1962dc745930205dd4fdebf1faef1e7 | 359 | 2cef6b61c1233333 | snapshots/p00068.npy | 2cef6b61c123333324d4c4a725acac270e415891b6760c32759abe9c8879d77b | 0 | 0.000222 | 0.002623 | 2.544445 | -0.027778 | -0.001123 | 0.455555 | -0.992057 | misaligned |
p00069 | 20,069 | {"tilt_x_deg": 1.730184339482884, "tilt_y_deg": -2.607964739135563, "x": -0.0018196150033040577, "y": 0.0030222341809724718, "z": 0.12853558802785914} | {"clearance": 0.0008830375310592138, "contact_dampratio": 1.0094069075649674, "contact_timeconst": 0.007632981273260481, "contact_width": 0.0007160381360134113, "friction": 0.25936241317897546} | {"actuation_noise": 0.01838184346357707, "angular_kp": 0.08725787594935613, "axial_kp": 41.12799046972928, "controller_noise": 0.003048253134606868, "lateral_kp": 18.162935729679972, "max_force": 0.9625597261663494, "settle_steps": 120, "target_depth": 0.028135362784588804, "target_x": 0.001700779087183375, "target_y":... | trajectories/p00069_TASK.npz | e86ae68119b725f213a270bc38187c78a1cc0e2ea8a58d6f856d0a3b1effaf5c | 329 | d9fe0f0e5713e5fb | snapshots/p00069.npy | d9fe0f0e5713e5fb9d75f3ea28a98d656e78d2032e2b2b69f8ff297dbb6c3b85 | 0 | 0.000393 | 0.001343 | 3.636443 | -0.027607 | 0.000157 | -0.636443 | -0.985977 | misaligned |
p00070 | 20,070 | {"tilt_x_deg": -5.39655426222327, "tilt_y_deg": -1.2147383747006373, "x": 0.0048862833329664235, "y": 0.0041081857669464875, "z": 0.1281381913546251} | {"clearance": 0.0013508053677532552, "contact_dampratio": 1.1683323153391674, "contact_timeconst": 0.005706861400653013, "contact_width": 0.0008149558197741785, "friction": 0.6853283392093191} | {"actuation_noise": 0.0001444616240656771, "angular_kp": 0.055918620056036664, "axial_kp": 23.21929290463528, "controller_noise": 0.017060795056508194, "lateral_kp": 17.768112122462803, "max_force": 1.0245783407103903, "settle_steps": 110, "target_depth": 0.03246878986524371, "target_x": -0.0015456738106504526, "target... | trajectories/p00070_TASK.npz | dbc4eb4142a740a01456a438e79cb01f3f6482494febb220fbb8d1209d211d94 | 292 | 6e9bd561f43b7ef4 | snapshots/p00070.npy | 6e9bd561f43b7ef4eb76df0972ee76faa60497163f8ea5ae786ff824e5d5eea2 | 0 | 0.000203 | 0.00152 | 3.75389 | -0.027797 | -0.00002 | -0.75389 | -0.992755 | misaligned |
p00071 | 20,071 | {"tilt_x_deg": 2.9032914183568774, "tilt_y_deg": 5.259220522698229, "x": 0.004582797370349617, "y": 0.004454375219450284, "z": 0.1234162003890425} | {"clearance": 0.00041375506145723825, "contact_dampratio": 1.1885731963479895, "contact_timeconst": 0.007399612434331192, "contact_width": 0.0008436934044555133, "friction": 0.7310736388381032} | {"actuation_noise": 0.004214497091928302, "angular_kp": 0.11734053959541402, "axial_kp": 40.741081073045606, "controller_noise": 0.019004561348218218, "lateral_kp": 29.23285411300209, "max_force": 0.5644638604220021, "settle_steps": 101, "target_depth": 0.032390419252781494, "target_x": -0.0008508581101621692, "target_... | trajectories/p00071_TASK.npz | edc7903618b03702bfd551276d5097c32f1e5117ff14644396eb7a35dcde51b4 | 318 | 4e8be635e8e95bd9 | snapshots/p00071.npy | 4e8be635e8e95bd9bac071e3e6819d3529d35676ae23da90136317538906ab5d | 0 | -0.000129 | 0.003577 | 1.504262 | -0.028129 | -0.002077 | 1.495738 | -1.384697 | misaligned |
p00072 | 20,072 | {"tilt_x_deg": 2.3749319754077796, "tilt_y_deg": 3.6534707544425427, "x": 0.003932760471248346, "y": -0.0003409606129831646, "z": 0.12879171532007216} | {"clearance": 0.001589269891312483, "contact_dampratio": 0.9425539632724499, "contact_timeconst": 0.0045365378603452276, "contact_width": 0.0008222972540434728, "friction": 0.36743534640533004} | {"actuation_noise": 0.01687518061414825, "angular_kp": 0.061870260652737055, "axial_kp": 36.906572146100146, "controller_noise": 0.006275001600924368, "lateral_kp": 18.664102510933823, "max_force": 0.8146754154581604, "settle_steps": 127, "target_depth": 0.028409055570303394, "target_x": -0.0008528911167721477, "target... | trajectories/p00072_TASK.npz | e67977bccadda17739dbfee7c35f25a13fa4a4bee2db472365d983e477ce3f0b | 376 | 2ea7f4059d0be8c3 | snapshots/p00072.npy | 2ea7f4059d0be8c31c40f3f6b5da255e55618c3ff3262aaf493d15d46c4f2ad5 | 1 | 0.028404 | 0.000981 | 1.980679 | 0.000404 | 0.000519 | 1.019321 | 0.01444 | successful |
p00073 | 20,073 | {"tilt_x_deg": 5.581990632271005, "tilt_y_deg": -3.19202586594481, "x": -0.004174147538704124, "y": 0.004235765058664366, "z": 0.12343403076105137} | {"clearance": 0.0004798335484867565, "contact_dampratio": 1.1356016739310253, "contact_timeconst": 0.00675045192710113, "contact_width": 0.0009750291147490394, "friction": 0.8336100406058765} | {"actuation_noise": 0.017579077297584705, "angular_kp": 0.09789047587641483, "axial_kp": 29.34073550525371, "controller_noise": 0.0024713851578113707, "lateral_kp": 24.553018030225175, "max_force": 0.5959561544840113, "settle_steps": 133, "target_depth": 0.032780481253385674, "target_x": -0.0012143483923719662, "target... | trajectories/p00073_TASK.npz | eedd8a78d8f4265557c05612fe35f81431e540cf43e08b7c7a85d3cc2d5e729c | 330 | 9170740cf0771798 | snapshots/p00073.npy | 9170740cf07717987399bc016b3be51fbae56984f6b57d0111f32f3c2f37fb5f | 0 | -0.000235 | 0.004178 | 1.164339 | -0.028235 | -0.002678 | 1.835661 | -1.785252 | misaligned |
p00074 | 20,074 | {"tilt_x_deg": -3.4296526247959336, "tilt_y_deg": 0.1925109032660588, "x": -0.004746697020217666, "y": -0.000700648928797956, "z": 0.1230718552998082} | {"clearance": 0.0012535763342121468, "contact_dampratio": 0.9809558463875993, "contact_timeconst": 0.005932275744928399, "contact_width": 0.0007955392042544527, "friction": 0.3708816360225035} | {"actuation_noise": 0.006322080303873851, "angular_kp": 0.10751918705006722, "axial_kp": 30.846923397620962, "controller_noise": 0.01820348764424437, "lateral_kp": 19.309429729222074, "max_force": 0.6884434764294117, "settle_steps": 102, "target_depth": 0.03232615756361664, "target_x": -0.0019929208306531648, "target_y... | trajectories/p00074_TASK.npz | 35f05ca8c520a58350e120f5e09cf66bbf130f8f39cbfa2cd87ed6ccaa3740aa | 329 | 4c3f383dd130361c | snapshots/p00074.npy | 4c3f383dd130361c9d19bfd0284ed44c7326f48ac6fd90940288ae01adf9ff5e | 0 | -0.000075 | 0.004052 | 0.690632 | -0.028075 | -0.002552 | 2.309368 | -1.701276 | misaligned |
p00075 | 20,075 | {"tilt_x_deg": -4.994767993906844, "tilt_y_deg": -1.9412565235008152, "x": 0.0004255803276218516, "y": -0.0005075952856633233, "z": 0.12491674688201813} | {"clearance": 0.0010907810050727461, "contact_dampratio": 0.9100464418919798, "contact_timeconst": 0.005243863455150177, "contact_width": 0.0010261558885022869, "friction": 0.3553235745840519} | {"actuation_noise": 0.004212130970537138, "angular_kp": 0.05490665405852406, "axial_kp": 38.97874552361441, "controller_noise": 0.019721986592530168, "lateral_kp": 22.142425512604788, "max_force": 0.9604069637042745, "settle_steps": 131, "target_depth": 0.03209587695910053, "target_x": -0.0022086962500478396, "target_y... | trajectories/p00075_TASK.npz | d85be3aad21005683b2950673f9478705519b0c8d35024d590590b6405bf73eb | 336 | dc9ec14e896a0d97 | snapshots/p00075.npy | dc9ec14e896a0d97a1a6ca4018fcf8bf7e47cca7ba5fd3773638db146f53a2da | 0 | 0.032031 | 0.001132 | 3.095073 | 0.004031 | 0.000368 | -0.095073 | -0.031691 | near-success |
p00076 | 20,076 | {"tilt_x_deg": 4.28814928194072, "tilt_y_deg": 2.8308682506295444, "x": 0.0041629749373825655, "y": -0.004649359283000822, "z": 0.126762451122793} | {"clearance": 0.001266316336290549, "contact_dampratio": 0.9677281804071088, "contact_timeconst": 0.007905037699133376, "contact_width": 0.0008513881171081844, "friction": 0.7986662477783985} | {"actuation_noise": 0.0047162477122759455, "angular_kp": 0.10284126268498026, "axial_kp": 40.627273613032926, "controller_noise": 0.007494330468039329, "lateral_kp": 26.77334218515057, "max_force": 0.630934587709874, "settle_steps": 118, "target_depth": 0.028030217228789508, "target_x": -0.0003727267548033599, "target_... | trajectories/p00076_TASK.npz | 17dd33ce088afb6e1e1e00f290788c93fa6909db90930ce9d1daeb80abbbbd8f | 353 | 641af8aa313089ff | snapshots/p00076.npy | 641af8aa313089ff97621c6b432a59371e371046f93510673397852f0fc009f1 | 0 | 0.027833 | 0.001228 | 1.489931 | -0.000167 | 0.000272 | 1.510069 | -0.005956 | near-success |
p00077 | 20,077 | {"tilt_x_deg": 0.24124543366955287, "tilt_y_deg": -0.47337881523305647, "x": -0.00041048738317914744, "y": 0.0059540306712907165, "z": 0.13030818264117758} | {"clearance": 0.00078172326026788, "contact_dampratio": 1.1213544383408784, "contact_timeconst": 0.00787582657044297, "contact_width": 0.0012804878942928775, "friction": 0.4729087910276338} | {"actuation_noise": 7.815726874279561e-05, "angular_kp": 0.06716565461899852, "axial_kp": 37.238402249639066, "controller_noise": 0.002858459405798758, "lateral_kp": 17.366574418795352, "max_force": 1.0120472574474655, "settle_steps": 102, "target_depth": 0.031227191008187615, "target_x": 0.0021693141414216477, "target... | trajectories/p00077_TASK.npz | 0d404a93e362193cbbebd6e75ebaa6705e9664231f5fa33dea99cf707d9192f5 | 354 | ae8ee00ff2f4d917 | snapshots/p00077.npy | ae8ee00ff2f4d91747e0e7ad83bad53a330c841b4d2928ae4c36577c27140864 | 0 | 0.000312 | 0.002321 | 3.818613 | -0.027688 | -0.000821 | -0.818613 | -0.988865 | misaligned |
p00078 | 20,078 | {"tilt_x_deg": 1.5304937638962475, "tilt_y_deg": 4.68637962699435, "x": 0.00563141092985699, "y": 0.0043848163208951955, "z": 0.12913911632871683} | {"clearance": 0.0005277907621929851, "contact_dampratio": 1.1930486910633156, "contact_timeconst": 0.004612177453920155, "contact_width": 0.0011441611457890459, "friction": 0.3264213882973331} | {"actuation_noise": 0.01950628187900341, "angular_kp": 0.08079147845803786, "axial_kp": 40.66439566478954, "controller_noise": 0.022727776996101803, "lateral_kp": 29.55902263222254, "max_force": 0.8944347338109877, "settle_steps": 116, "target_depth": 0.03267508382396559, "target_x": -0.001232827093250205, "target_y": ... | trajectories/p00078_TASK.npz | 6e5e9226e3cc5c7b472dc098bc1152f21b9dbbc3d9ddf61a85420e2467318f74 | 350 | be4a39e38a1d61a5 | snapshots/p00078.npy | be4a39e38a1d61a5bf9df0d70e0c29ea1ae59633a6a9ef327e7c559db21bc9bf | 0 | -0.000104 | 0.002151 | 1.557271 | -0.028104 | -0.000651 | 1.442729 | -1.003717 | misaligned |
p00079 | 20,079 | {"tilt_x_deg": 1.4448964199719487, "tilt_y_deg": -2.0902045840662735, "x": 0.005507481902083911, "y": 0.005496862022949887, "z": 0.12321734977246557} | {"clearance": 0.001545208124240371, "contact_dampratio": 1.1569823188349981, "contact_timeconst": 0.006083403698355411, "contact_width": 0.0011976026250825227, "friction": 0.6339834266153286} | {"actuation_noise": 0.013176389514709999, "angular_kp": 0.1182474517496408, "axial_kp": 41.41737350473179, "controller_noise": 0.02182182847978277, "lateral_kp": 20.68567009096796, "max_force": 0.5834348699920953, "settle_steps": 116, "target_depth": 0.0299798072235625, "target_x": 0.00082321011366333, "target_y": 0.00... | trajectories/p00079_TASK.npz | 96ab9bf00ef113b4adacdbc3f92f26898b848f9d79a7de2add3b9217be78d667 | 303 | 02724823fa11e42d | snapshots/p00079.npy | 02724823fa11e42d2c2c0946c2fdd34788fbe6433349c7566bc00910458678c4 | 0 | -0.000099 | 0.005031 | 1.205692 | -0.028099 | -0.003531 | 1.794308 | -2.353904 | misaligned |
p00080 | 20,080 | {"tilt_x_deg": 4.143942677642606, "tilt_y_deg": 3.2058263000370335, "x": 0.0050505603419487045, "y": -0.0002058043733493397, "z": 0.13040099498795843} | {"clearance": 0.0006532552677454854, "contact_dampratio": 1.0443783225734324, "contact_timeconst": 0.005036231781910689, "contact_width": 0.0011966447818210935, "friction": 0.47921263599379865} | {"actuation_noise": 0.019540354867618508, "angular_kp": 0.060544897776589945, "axial_kp": 35.95226116024206, "controller_noise": 0.016472162621764912, "lateral_kp": 19.745078534486808, "max_force": 0.9245859726272522, "settle_steps": 115, "target_depth": 0.025086461947700214, "target_x": -0.0015735573895944122, "target... | trajectories/p00080_TASK.npz | eba5a7ddc94bc8034fd6c4a3d02687669a6e65ea14cb34196ab4c345a0d1d8fc | 364 | 44354899ca19d85c | snapshots/p00080.npy | 44354899ca19d85c262c08b82e464e359ae580e4dc9fca00643c12557aaf2ce2 | 0 | 0.000614 | 0.000493 | 4.889877 | -0.027386 | 0.001007 | -1.889877 | -0.978073 | misaligned |
p00081 | 20,081 | {"tilt_x_deg": -4.761261848489978, "tilt_y_deg": 4.062728779537018, "x": 0.0030956336259197886, "y": 0.005608632567991668, "z": 0.12387442056091398} | {"clearance": 0.0004628699086635581, "contact_dampratio": 0.9733728659681378, "contact_timeconst": 0.006131490944996243, "contact_width": 0.0011803863602123622, "friction": 0.8155161865436035} | {"actuation_noise": 0.017194758801449862, "angular_kp": 0.04043739984740601, "axial_kp": 40.928437359595534, "controller_noise": 0.01280754644797292, "lateral_kp": 20.955391777295773, "max_force": 0.6967433940590684, "settle_steps": 102, "target_depth": 0.032921378742893415, "target_x": -7.650944533537339e-05, "target_... | trajectories/p00081_TASK.npz | d6ed58ac9e2ce7fdb4a73e348578b413f55cc167cc5c05b0d2407fcf94c4b6e3 | 333 | 51051e98a36a45ff | snapshots/p00081.npy | 51051e98a36a45ff0f8033b7d0976de36d9d3cdaf71192ec1cdcc17127558f23 | 1 | 0.031455 | 0.00033 | 2.223784 | 0.003455 | 0.00117 | 0.776216 | 0.123384 | successful |
p00082 | 20,082 | {"tilt_x_deg": 3.7317773528795044, "tilt_y_deg": 1.0440239085076266, "x": 0.0032430947725124604, "y": 0.0015064954005243533, "z": 0.12662591481221772} | {"clearance": 0.0017227023251274566, "contact_dampratio": 0.8395613583523291, "contact_timeconst": 0.0048161493319502, "contact_width": 0.0009311198492988652, "friction": 0.3250204804505896} | {"actuation_noise": 0.0005672221364925579, "angular_kp": 0.07532988842383503, "axial_kp": 40.99650060930627, "controller_noise": 0.005929358635430957, "lateral_kp": 17.067787267636106, "max_force": 0.7544737133107882, "settle_steps": 140, "target_depth": 0.030115877123667468, "target_x": -0.001123832652419358, "target_... | trajectories/p00082_TASK.npz | 141b3263a596f1c1bd6392e22618f2b84943bf7bedd1fc5f40dfd2830d0c6436 | 320 | aa2f2228eb6b45e5 | snapshots/p00082.npy | aa2f2228eb6b45e5dc8b1e1f16cc59736c7f30e119a479e112369a28fe3643c5 | 0 | 0.00061 | 0.000918 | 4.182084 | -0.02739 | 0.000582 | -1.182084 | -0.978228 | misaligned |
p00083 | 20,083 | {"tilt_x_deg": 5.911234859331973, "tilt_y_deg": 2.0031304329591855, "x": -0.003275858119366047, "y": -0.0044097985754843845, "z": 0.12529782086087454} | {"clearance": 0.0006960597859373776, "contact_dampratio": 0.85149500527009, "contact_timeconst": 0.006149593146668893, "contact_width": 0.0010308600748548842, "friction": 0.48081767984418566} | {"actuation_noise": 0.00652445034886157, "angular_kp": 0.11768412810976261, "axial_kp": 31.865408131397754, "controller_noise": 0.019822847207621827, "lateral_kp": 17.39555183546083, "max_force": 0.658686993278915, "settle_steps": 126, "target_depth": 0.02505338973092631, "target_x": -0.0015939698182848446, "target_y":... | trajectories/p00083_TASK.npz | 53a757f1518473a3f753fe2665faae4ee368c9a7d730fd397ab006470bb7810f | 394 | f3e214db112503db | snapshots/p00083.npy | f3e214db112503dbbb66d466cd3f80dccbdb388e5916ff58fc9cd39f105c6ea9 | 0 | 0.000166 | 0.001852 | 2.378658 | -0.027834 | -0.000352 | 0.621342 | -0.994083 | misaligned |
p00084 | 20,084 | {"tilt_x_deg": 3.8868615583411206, "tilt_y_deg": -0.2507542843429791, "x": 0.005822184243452898, "y": -0.004552384687011695, "z": 0.12886718588643195} | {"clearance": 0.0011138001930000466, "contact_dampratio": 1.172989731725151, "contact_timeconst": 0.007638645404467834, "contact_width": 0.0011288832261727797, "friction": 0.6954670347083113} | {"actuation_noise": 0.015386250963880157, "angular_kp": 0.0920430655726849, "axial_kp": 23.0723999803633, "controller_noise": 0.007825429758161853, "lateral_kp": 17.81554283491672, "max_force": 1.027710186601296, "settle_steps": 128, "target_depth": 0.02869562290042083, "target_x": -0.0011452973553082208, "target_y": 0... | trajectories/p00084_TASK.npz | bcfde73b9442404b9982b4b746fafda42666ccb5a79c6adc1709e225203e7729 | 343 | 547ea1be4002d98e | snapshots/p00084.npy | 547ea1be4002d98eebe63d67a1614579cede8b6847c0a8a247aa9f00dad1f8b1 | 0 | 0.000225 | 0.00228 | 2.431575 | -0.027775 | -0.00078 | 0.568425 | -0.991981 | misaligned |
p00085 | 20,085 | {"tilt_x_deg": 1.793264625519603, "tilt_y_deg": -0.31056708924359633, "x": -0.0053338928824937515, "y": -0.004435656268793637, "z": 0.12383220227992231} | {"clearance": 0.0012911299128038416, "contact_dampratio": 1.142578385797616, "contact_timeconst": 0.006101283728083806, "contact_width": 0.0009050394602598949, "friction": 0.3656568185148638} | {"actuation_noise": 0.015826412452149347, "angular_kp": 0.06497141572921551, "axial_kp": 24.760993077568358, "controller_noise": 0.005916696160516991, "lateral_kp": 12.266647676348049, "max_force": 0.830207457226138, "settle_steps": 128, "target_depth": 0.02617064144196956, "target_x": -0.0009416615588765155, "target_y... | trajectories/p00085_TASK.npz | 96e33ca523685e175323bcf158ebd71530ff5e350ab38d29d2151e4e1383ee46 | 343 | 59329d0a51e081a1 | snapshots/p00085.npy | 59329d0a51e081a1bd6c3042493acd7c778887df8a07cb1325533ef6c489ef66 | 0 | -0.000052 | 0.004923 | 0.076939 | -0.028052 | -0.003423 | 2.923061 | -2.281831 | misaligned |
p00086 | 20,086 | {"tilt_x_deg": -2.1655842823064413, "tilt_y_deg": -0.42728308238115886, "x": 0.00222807200064451, "y": -0.0035322734927807613, "z": 0.1321797522035395} | {"clearance": 0.0013649037074372485, "contact_dampratio": 0.8137761033494433, "contact_timeconst": 0.006796896445252833, "contact_width": 0.0009098385410735927, "friction": 0.7016103451992652} | {"actuation_noise": 0.010289345945535969, "angular_kp": 0.0968829410963914, "axial_kp": 21.814624068982486, "controller_noise": 0.004919546357652505, "lateral_kp": 29.83481295573537, "max_force": 0.6372649145503066, "settle_steps": 120, "target_depth": 0.026653639059821453, "target_x": -0.0010159591998022339, "target_y... | trajectories/p00086_TASK.npz | 48b4a303335ff01294b201533ceb2bf669579937692b80d9b28c189c361f2d92 | 333 | 8ef04de852c8c5d4 | snapshots/p00086.npy | 8ef04de852c8c5d4062b7f73f0a047a19ecb0a2638826ec10694c448edcfe0de | 0 | 0.026725 | 0.001764 | 0.782075 | -0.001275 | -0.000264 | 2.217925 | -0.176112 | near-success |
p00087 | 20,087 | {"tilt_x_deg": -3.210060767854713, "tilt_y_deg": -2.646159456924325, "x": 0.0018294555150432587, "y": -0.0031418082183886542, "z": 0.13261612164020237} | {"clearance": 0.001493948305659647, "contact_dampratio": 0.8736131625832856, "contact_timeconst": 0.005685914103758698, "contact_width": 0.0007619734524994244, "friction": 0.7790334446052107} | {"actuation_noise": 0.009566598461924258, "angular_kp": 0.08847492350616401, "axial_kp": 29.034862072993402, "controller_noise": 0.021498961410971212, "lateral_kp": 17.248383065552396, "max_force": 0.6502066807425111, "settle_steps": 100, "target_depth": 0.02783135501373681, "target_x": 0.0016345146074277163, "target_y... | trajectories/p00087_TASK.npz | 2812be2054a5d7a6342e952d6a2df763af4f73f094c047900e15566bf2924221 | 368 | 401951708a50b829 | snapshots/p00087.npy | 401951708a50b829223342d37bed7877d25a0403ff164dd0ac445b8864d91224 | 0 | -0.000079 | 0.003143 | 1.597372 | -0.028079 | -0.001643 | 1.402628 | -1.095216 | misaligned |
p00088 | 20,088 | {"tilt_x_deg": 2.2249084836055477, "tilt_y_deg": 5.060234579141293, "x": -0.005885728185868077, "y": 0.0030553266564060343, "z": 0.12832477239964057} | {"clearance": 0.0013068309011770292, "contact_dampratio": 1.0371032324734595, "contact_timeconst": 0.0064950787531957085, "contact_width": 0.001265895377158554, "friction": 0.35651748912909514} | {"actuation_noise": 0.009381387397616127, "angular_kp": 0.05924867570389458, "axial_kp": 27.45875075994791, "controller_noise": 0.003502017605780261, "lateral_kp": 24.436170678562878, "max_force": 0.7816632623678743, "settle_steps": 137, "target_depth": 0.033138957439142455, "target_x": 0.0016527145616571002, "target_y... | trajectories/p00088_TASK.npz | e8249edfb9289dcdeb6d627964ea7c5d96c8cb7a4576db1b1a5d168772f648f4 | 428 | 0b0922cc0db58b98 | snapshots/p00088.npy | 0b0922cc0db58b98ac7db45c3d85a997ea96bb2ec1e4007fb5905f72ddc7eda4 | 0 | -0.000126 | 0.003426 | 3.269959 | -0.028126 | -0.001926 | -0.269959 | -1.284175 | misaligned |
p00089 | 20,089 | {"tilt_x_deg": 0.14178359251847183, "tilt_y_deg": -0.295479171028286, "x": 0.0028385062862778827, "y": 0.004481454974160892, "z": 0.12452157199872646} | {"clearance": 0.0007211720405197133, "contact_dampratio": 1.1897855207098367, "contact_timeconst": 0.005069190886105642, "contact_width": 0.0009502003681431475, "friction": 0.32515098297514017} | {"actuation_noise": 0.005596683391320087, "angular_kp": 0.11841437941303637, "axial_kp": 36.350155739975534, "controller_noise": 0.011425875788926565, "lateral_kp": 26.079134008447397, "max_force": 0.8571160388689336, "settle_steps": 108, "target_depth": 0.028566844668488238, "target_x": -0.0018114165996602543, "target... | trajectories/p00089_TASK.npz | f8c4c70cc07b9237a4a5fdd1273cb10269cfbf2e00d5d718074c15d4de5538df | 397 | 163424ea35cc79d0 | snapshots/p00089.npy | 163424ea35cc79d04be19f82bc6af8bef72adbd523d3cfbc7b6f2663b1ef4712 | 0 | 0.000423 | 0.00041 | 3.252418 | -0.027577 | 0.00109 | -0.252418 | -0.984877 | misaligned |
p00090 | 20,090 | {"tilt_x_deg": -0.161811553086757, "tilt_y_deg": 2.063533088533605, "x": -0.005364699936340265, "y": -0.0004789069127400002, "z": 0.1323720050761976} | {"clearance": 0.001184082406608228, "contact_dampratio": 1.092090023752285, "contact_timeconst": 0.005654048050329045, "contact_width": 0.001006786038901861, "friction": 0.6103849496404925} | {"actuation_noise": 0.006736585054372346, "angular_kp": 0.11762244903499217, "axial_kp": 35.34032431707008, "controller_noise": 0.001594172013901568, "lateral_kp": 29.976453627459733, "max_force": 1.0482935742384378, "settle_steps": 101, "target_depth": 0.031187374260844076, "target_x": -0.0006182776542263768, "target_... | trajectories/p00090_TASK.npz | a07ca3cbe8c9e91675f0ee90ac172257e34782be0c3970cef854d93c7dcbaa5b | 310 | 45232b0ff4fb1da5 | snapshots/p00090.npy | 45232b0ff4fb1da5a8445a6af128933a9beb2e4727a8654ec2aba248b228d377 | 0 | 0.000431 | 0.001422 | 3.75266 | -0.027569 | 0.000078 | -0.75266 | -0.984622 | misaligned |
p00091 | 20,091 | {"tilt_x_deg": 5.909448820886151, "tilt_y_deg": -2.319900906376399, "x": -0.0006931484387345133, "y": -0.0059953912990008155, "z": 0.13458792157813923} | {"clearance": 0.0014828383087589362, "contact_dampratio": 0.9627252821209838, "contact_timeconst": 0.006507673777832743, "contact_width": 0.0011732977165659101, "friction": 0.431448802870803} | {"actuation_noise": 0.018612616967729156, "angular_kp": 0.10048099840972624, "axial_kp": 33.67345327083154, "controller_noise": 0.003783973247614708, "lateral_kp": 29.649544313728743, "max_force": 0.9986550175285962, "settle_steps": 134, "target_depth": 0.03224836824128547, "target_x": 0.001557806963689568, "target_y":... | trajectories/p00091_TASK.npz | 2e56ffc9c10b1a29e9f1de5037fcfc318c69f0a2593c686f067ea1fe67e984d5 | 418 | 5300b2a10fa1eaa5 | snapshots/p00091.npy | 5300b2a10fa1eaa55bfd26428921455aa3feba8e98f47865400b3a5a0223c213 | 0 | 0.032339 | 0.001816 | 1.452231 | 0.004339 | -0.000316 | 1.547769 | -0.210349 | near-success |
p00092 | 20,092 | {"tilt_x_deg": -1.011395435167561, "tilt_y_deg": -5.496119206322707, "x": 0.001392086449790485, "y": 0.005408107834566529, "z": 0.12398874287311457} | {"clearance": 0.0009743060267892838, "contact_dampratio": 1.0196460442261956, "contact_timeconst": 0.0059682610174826975, "contact_width": 0.0012545139432005126, "friction": 0.428201589949745} | {"actuation_noise": 0.0005875168982444201, "angular_kp": 0.08560956466537659, "axial_kp": 27.703056634346897, "controller_noise": 0.0015164047117436326, "lateral_kp": 30.366416376510546, "max_force": 0.8820630370828098, "settle_steps": 100, "target_depth": 0.02545921486607606, "target_x": -0.0003739591771521806, "targe... | trajectories/p00092_TASK.npz | e76c9c40fbb99ef1abb231d3976726b9c9620fcfad8772db48844224082dd096 | 389 | 3cc5518e0c5b92a8 | snapshots/p00092.npy | 3cc5518e0c5b92a8a162b3b3e99fcba417840e73f8a728231aea6271b5ec0e68 | 0 | -0.000068 | 0.00238 | 1.85264 | -0.028068 | -0.00088 | 1.14736 | -1.002446 | misaligned |
p00093 | 20,093 | {"tilt_x_deg": 5.083072364094862, "tilt_y_deg": -5.030841705439984, "x": -0.0053376012673125904, "y": -0.004817810263601844, "z": 0.13093956145876295} | {"clearance": 0.0009326472142493682, "contact_dampratio": 1.0730564028941258, "contact_timeconst": 0.006526533636504047, "contact_width": 0.0011044078777388627, "friction": 0.7904153404579748} | {"actuation_noise": 0.010054171267585758, "angular_kp": 0.1060470622947719, "axial_kp": 25.483430137865128, "controller_noise": 0.024673556869195923, "lateral_kp": 24.92610450339651, "max_force": 0.7181978741965453, "settle_steps": 131, "target_depth": 0.0294267741265261, "target_x": -0.002306126290146591, "target_y": ... | trajectories/p00093_TASK.npz | 6d8bbb43dfaca3253431f2d4c1132407d4adc025c413872ddeece7b0bf7c9705 | 411 | eae977c8ca2110a5 | snapshots/p00093.npy | eae977c8ca2110a514223fe45403f9c06644735be6855b30e24419910723cfbb | 0 | 0.00005 | 0.001587 | 1.051739 | -0.02795 | -0.000087 | 1.948261 | -0.998223 | misaligned |
p00094 | 20,094 | {"tilt_x_deg": -2.4914949787186873, "tilt_y_deg": 0.9326215062870364, "x": -0.0034508950725585454, "y": -0.004908410948246531, "z": 0.1241404288449565} | {"clearance": 0.000840026522883261, "contact_dampratio": 1.1621982818553467, "contact_timeconst": 0.007243359849684372, "contact_width": 0.0007951681990619814, "friction": 0.6319597043122854} | {"actuation_noise": 0.006771394775817883, "angular_kp": 0.11769688960848951, "axial_kp": 25.002835347061854, "controller_noise": 0.011897405692012293, "lateral_kp": 15.081259254440525, "max_force": 0.923580242870917, "settle_steps": 102, "target_depth": 0.028924910421783825, "target_x": 0.001922165182583957, "target_y"... | trajectories/p00094_TASK.npz | 538b55cdae4ee72882258b04666dfabd9f60aafca1dbc75c7a3f30dbb7ecd547 | 387 | 9e19c0e07f737f70 | snapshots/p00094.npy | 9e19c0e07f737f704f8cd78efbf67edc5d0614bb2ea80059d2fc06f7ecc59b14 | 0 | -0.000081 | 0.0041 | 1.051849 | -0.028081 | -0.0026 | 1.948151 | -1.733236 | misaligned |
p00095 | 20,095 | {"tilt_x_deg": -4.717568317033406, "tilt_y_deg": 0.3856061156722337, "x": 0.003405135539260841, "y": -0.0028996414670576895, "z": 0.12969155567321616} | {"clearance": 0.001651796901679555, "contact_dampratio": 0.805602039218839, "contact_timeconst": 0.00638608841343875, "contact_width": 0.0009488338675736874, "friction": 0.3790597760863192} | {"actuation_noise": 0.019216661798157945, "angular_kp": 0.10076829831427123, "axial_kp": 41.16471864602586, "controller_noise": 0.0003074515492207608, "lateral_kp": 18.196674366538705, "max_force": 0.8004966914331378, "settle_steps": 135, "target_depth": 0.03057569120159118, "target_x": 0.0003303974365318164, "target_y... | trajectories/p00095_TASK.npz | b6a3bf262b938307f07e394ccd002e9cc3b2a7fc624b0b7c71bc633084b7fb53 | 403 | 18d1147f3e8a1047 | snapshots/p00095.npy | 18d1147f3e8a10478b991f70a207f270f131e0c75ef43244f7aa339b971b48c5 | 0 | 0.000631 | 0.001669 | 4.495432 | -0.027369 | -0.000169 | -1.495432 | -0.977447 | misaligned |
p00096 | 20,096 | {"tilt_x_deg": -0.8553163580303824, "tilt_y_deg": 4.231231184049724, "x": -0.0010100331248317366, "y": 0.0040230686656242375, "z": 0.13086013306912597} | {"clearance": 0.0016678066877211994, "contact_dampratio": 1.1289371216335322, "contact_timeconst": 0.006095463163939507, "contact_width": 0.00129244244469845, "friction": 0.32105301309770035} | {"actuation_noise": 0.007430256125378616, "angular_kp": 0.1101918354898841, "axial_kp": 37.89836428375426, "controller_noise": 0.005884295762403575, "lateral_kp": 18.67975891951924, "max_force": 0.9569377756063934, "settle_steps": 132, "target_depth": 0.02650729638849511, "target_x": -0.002096661945782129, "target_y": ... | trajectories/p00096_TASK.npz | 68beadda1ed2909d70fc6b25dc768dfc775aba66df7bbc19ce627443714194c9 | 422 | 75fbbb5abe4ed5dc | snapshots/p00096.npy | 75fbbb5abe4ed5dc80acf789d2815898265d5086c4cca5535fa6ed5c84d74ec3 | 0 | -0.000081 | 0.00383 | 0.497167 | -0.028081 | -0.00233 | 2.502833 | -1.553447 | misaligned |
p00097 | 20,097 | {"tilt_x_deg": -4.063212459254684, "tilt_y_deg": 5.219193182178662, "x": -0.0036647616385878027, "y": 0.0023305635247293285, "z": 0.12480227264907649} | {"clearance": 0.001090535785325597, "contact_dampratio": 0.9741763279021411, "contact_timeconst": 0.006548899004185125, "contact_width": 0.0012803958481902903, "friction": 0.7818881171332632} | {"actuation_noise": 0.008275244661441148, "angular_kp": 0.052882999932807956, "axial_kp": 31.772218955228503, "controller_noise": 0.0008883389690886424, "lateral_kp": 31.170275368182267, "max_force": 0.8151677812741146, "settle_steps": 138, "target_depth": 0.02818038470392794, "target_x": -0.0024240902759913576, "targe... | trajectories/p00097_TASK.npz | 43681881335b966b8ca8f612eba1d651e54fa0088b4ce70b3dd0085b6592c43a | 376 | 7c3d43aa19d0d65a | snapshots/p00097.npy | 7c3d43aa19d0d65a178a622b074a3462e6e967f33acb5c28dc807e1ddb1bfbe6 | 0 | 0.000507 | 0.002637 | 5.511187 | -0.027493 | -0.001137 | -2.511187 | -0.981909 | misaligned |
p00098 | 20,098 | {"tilt_x_deg": -5.1352863971176355, "tilt_y_deg": -0.10692047548629535, "x": 0.004375030935849547, "y": -0.0025231535464438574, "z": 0.1331507297364765} | {"clearance": 0.0007251056475566194, "contact_dampratio": 0.9069602771592152, "contact_timeconst": 0.006541140332424792, "contact_width": 0.000944337719336564, "friction": 0.819665148063475} | {"actuation_noise": 0.0006848391792146402, "angular_kp": 0.07825239579014266, "axial_kp": 21.771107479636093, "controller_noise": 0.022769190564606256, "lateral_kp": 27.090923159777013, "max_force": 0.6117664246001149, "settle_steps": 121, "target_depth": 0.025490203039958956, "target_x": 0.0015352616790956963, "target... | trajectories/p00098_TASK.npz | 9fdea0326eb1b7072cad82fc2983b72d5b6913fb1ab17394351b5cc52c22dc0f | 361 | 686097d6188cd917 | snapshots/p00098.npy | 686097d6188cd917de8f0d35f144d085d50828636e7b5f6052f49d12785bcfa4 | 0 | -0.000104 | 0.002225 | 1.769926 | -0.028104 | -0.000725 | 1.230074 | -1.003715 | misaligned |
p00099 | 20,099 | {"tilt_x_deg": 0.41940286516260894, "tilt_y_deg": -2.70812744081219, "x": -0.0012782731396970793, "y": 0.005059586151674362, "z": 0.13145992309052523} | {"clearance": 0.0007286517952004122, "contact_dampratio": 1.112939805960933, "contact_timeconst": 0.005282138480121782, "contact_width": 0.000771402692390529, "friction": 0.48205610495391893} | {"actuation_noise": 0.019602002905554812, "angular_kp": 0.09213103658874, "axial_kp": 31.10850385570764, "controller_noise": 0.020234495970680104, "lateral_kp": 29.723902454283966, "max_force": 1.020335952255193, "settle_steps": 109, "target_depth": 0.026228955478988982, "target_x": 0.0003366499675744655, "target_y": -... | trajectories/p00099_TASK.npz | 8c0a8e0c1d0e9669982bdbf0a41514e643d526ef2ad2ca1f2ce97635350410f2 | 322 | 9d248b46fb3dcee4 | snapshots/p00099.npy | 9d248b46fb3dcee4c1cbd262c19437973dd63268a9453f1851e70c719cb93951 | 0 | 0.000363 | 0.000822 | 3.046362 | -0.027637 | 0.000678 | -0.046362 | -0.987022 | misaligned |
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Self-Fulfilling Verification Gate-0
This dataset is the complete frozen main run for a CPU-only MuJoCo study of verification-induced outcome changes in connector insertion.
Research question
Can a physical action used to verify task success complete an insertion itself, making post-verification success look attributable to the preceding task action? If so, can the pre-verification outcome still be recovered from the resulting state or trajectory?
Dataset scope
- 500 natural parent terminal states.
- Five paired verification branches per parent.
- 2,500 verification branches.
- 3,000 trajectories including the parent task trajectories.
- 500 MuJoCo integration-state snapshots.
- Leakage-safe 350/150 parent-level train/test split.
- Frozen configuration, manifest, metrics, bootstrap results, reports, and figures.
All observations are generated in simulation. The dataset contains no human participants, personal information, camera recordings, or real-robot data.
Directory layout
config.yaml
manifest.json
figures/
reports/
results/
snapshots/
trajectories/
The results/ directory contains parent and verification ledgers, split
assignments, recoverability outputs, and aggregate metrics. trajectories/
contains compressed NumPy traces, and snapshots/ contains frozen MuJoCo state
arrays used to create paired branches.
Main result and scientific status
The strongest verification probe produced a verification-induced completion
rate of 0.137 with a 95% bootstrap interval of [0.108, 0.169], while causal
soundness fell to 0.474. However, 59 of 61 induced completions were in the
predeclared very-near-boundary region, and the strongest predeclared full-trace
model recovered the pre-verification outcome with 1.000 balanced accuracy.
The frozen terminal decision is therefore:
SCIENTIFIC_STATUS = KILL
TERMINATION_GATE = GATE_0
The data supports a narrow outcome-contamination finding. It does not establish history erasure, information-theoretic non-identifiability, widespread robot failure, real-robot validity, or generalization beyond this connector model.
Reproduction
Source code and exact setup instructions:
https://github.com/Benjamindaoson/Self-Fulfilling-Verification
python -m venv .venv
.\.venv\Scripts\python.exe -m pip install -r requirements.lock.txt
.\.venv\Scripts\python.exe -m pip install -e . --no-deps
.\.venv\Scripts\python.exe -m pytest -q
.\.venv\Scripts\python.exe -m gate0.analyze --run <downloaded-run-directory>
Re-analysis validates the frozen config, input ledgers, snapshots, trajectories, dependency provenance, and source provenance before regenerating outputs.
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