Add release_train, seen_cables_test and unseen_cables_test (part 2)

unseen_cables_test/cable_031/episodes.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65812721428da6fd0e713a2ec3d5a7075b67cd27206a4e2e3191ce589f69a174
+size 122780232

unseen_cables_test/cable_031/params.yaml

@@ -0,0 +1,729 @@
+cable:
+  id: 31
+  material: M4_stiff
+  length: 0.95
+  n_segments: 32
+  diameter: 0.002
+  density: 8000.0
+  bend_stiffness: 500000000.0
+  twist_bend_ratio: 0.38
+  joint_damping: 0.01
+  weld_dampratio: 10.0
+  start_height: 1.25
+derived:
+  effective_linear_density: 0.026261509642212764
+  nominal_linear_density: 0.025132741228718343
+  twist_stiffness: 190000000.0
+play:
+  record_hz: 500.0
+  timeout_s: 5.0
+  min_frames: 250
+  settle_v_tol: 0.01
+  settle_arm_v_tol: 0.5
+  settle_window_s: 0.5
+  pose_dwell_s: 5.0
+  pose_release_v_max: 0.3
+  pose_max_resamples: 3
+  reach_horizon_s: 25.0
+  reach_ramp_s: 0.0
+  v_cap: 0.05
+  w_cap: 0.5
+  span_fraction: 0.25
+  box_half_extent: 0.5
+  cone_half_angle: 0.785
+  min_gripper_distance: 0.1
+  monitor_v_max: 0.1
+  monitor_window_s: 0.5
+  require_arming: true
+release:
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+  pose_flags:
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+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - - 'release pose 0 rejected: p95 0.324 m/s exceeds pose_release_v_max 0.3 m/s'
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+schema:
+  vertex_pos:
+    shape:
+    - 30
+    - 2383
+    - 33
+    - 3
+    dtype: float64
+    unit: m
+  vertex_vel:
+    shape:
+    - 30
+    - 2383
+    - 33
+    - 3
+    dtype: float64
+    unit: m/s
+  edge_quat:
+    shape:
+    - 30
+    - 2383
+    - 32
+    - 4
+    dtype: float64
+    unit: unit quaternion, wxyz
+  edge_omega:
+    shape:
+    - 30
+    - 2383
+    - 32
+    - 3
+    dtype: float64
+    unit: rad/s
+  edge_wrench:
+    shape:
+    - 30
+    - 2383
+    - 32
+    - 6
+    dtype: float64
+    unit: N*m torque (0:3), N force (3:6)
+  t:
+    shape:
+    - 30
+    - 2383
+    dtype: float64
+    unit: s since that episode's release, then one -1 stop, then NaN
+  episode_lengths:
+    shape:
+    - 30
+    dtype: int64
+    unit: frames, real count per episode
+  record_hz:
+    shape: []
+    dtype: float64
+    unit: Hz, REQUESTED; take dt from np.diff(t)
+  cable_id:
+    shape: []
+    dtype: int64
+    unit: ''
+  length:
+    shape: []
+    dtype: float64
+    unit: m
+  diameter:
+    shape: []
+    dtype: float64
+    unit: m
+  bend_stiffness:
+    shape: []
+    dtype: float64
+    unit: Pa
+  joint_damping:
+    shape: []
+    dtype: float64
+    unit: N*m*s/rad
+  effective_linear_density:
+    shape: []
+    dtype: float64
+    unit: kg/m

unseen_cables_test/cable_032/episodes.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:746dea445e17956f8814b0fb675ced622f4c876a59a8245ee9fdb85bb91fd728
+size 126959367

unseen_cables_test/cable_032/params.yaml

@@ -0,0 +1,729 @@
+cable:
+  id: 32
+  material: M4_stiff
+  length: 1.0
+  n_segments: 32
+  diameter: 0.002
+  density: 8000.0
+  bend_stiffness: 500000000.0
+  twist_bend_ratio: 0.38
+  joint_damping: 0.01
+  weld_dampratio: 10.0
+  start_height: 1.3
+derived:
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+  nominal_linear_density: 0.025132741228718343
+  twist_stiffness: 190000000.0
+play:
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+  timeout_s: 5.0
+  min_frames: 250
+  settle_v_tol: 0.01
+  settle_arm_v_tol: 0.5
+  settle_window_s: 0.5
+  pose_dwell_s: 5.0
+  pose_release_v_max: 0.3
+  pose_max_resamples: 3
+  reach_horizon_s: 25.0
+  reach_ramp_s: 0.0
+  v_cap: 0.05
+  w_cap: 0.5
+  span_fraction: 0.25
+  box_half_extent: 0.5
+  cone_half_angle: 0.785
+  min_gripper_distance: 0.1
+  monitor_v_max: 0.1
+  monitor_window_s: 0.5
+  require_arming: true
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+  - true
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+  - true
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+  - true
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+  settle_time_s:
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+  pose_flags:
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+  - []
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+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.21 m/s)
+  - []
+  - []
+  - []
+  - []
+schema:
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+  edge_omega:
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+    unit: N*m torque (0:3), N force (3:6)
+  t:
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+    dtype: float64
+    unit: s since that episode's release, then one -1 stop, then NaN
+  episode_lengths:
+    shape:
+    - 30
+    dtype: int64
+    unit: frames, real count per episode
+  record_hz:
+    shape: []
+    dtype: float64
+    unit: Hz, REQUESTED; take dt from np.diff(t)
+  cable_id:
+    shape: []
+    dtype: int64
+    unit: ''
+  length:
+    shape: []
+    dtype: float64
+    unit: m
+  diameter:
+    shape: []
+    dtype: float64
+    unit: m
+  bend_stiffness:
+    shape: []
+    dtype: float64
+    unit: Pa
+  joint_damping:
+    shape: []
+    dtype: float64
+    unit: N*m*s/rad
+  effective_linear_density:
+    shape: []
+    dtype: float64
+    unit: kg/m

unseen_cables_test/cable_033/episodes.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80707cfc85cc5a0d2f1bd132f63a5c6a28b45285f29617dc3e4ee310e9b2f728
+size 134305560

unseen_cables_test/cable_033/params.yaml

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+cable:
+  id: 33
+  material: M4_stiff
+  length: 1.2
+  n_segments: 32
+  diameter: 0.002
+  density: 8000.0
+  bend_stiffness: 500000000.0
+  twist_bend_ratio: 0.38
+  joint_damping: 0.01
+  weld_dampratio: 10.0
+  start_height: 1.5
+derived:
+  effective_linear_density: 0.02602635080442485
+  nominal_linear_density: 0.025132741228718343
+  twist_stiffness: 190000000.0
+play:
+  record_hz: 500.0
+  timeout_s: 5.0
+  min_frames: 250
+  settle_v_tol: 0.01
+  settle_arm_v_tol: 0.5
+  settle_window_s: 0.5
+  pose_dwell_s: 5.0
+  pose_release_v_max: 0.3
+  pose_max_resamples: 3
+  reach_horizon_s: 25.0
+  reach_ramp_s: 0.0
+  v_cap: 0.05
+  w_cap: 0.5
+  span_fraction: 0.25
+  box_half_extent: 0.5
+  cone_half_angle: 0.785
+  min_gripper_distance: 0.1
+  monitor_v_max: 0.1
+  monitor_window_s: 0.5
+  require_arming: true
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+  release_v_p95:
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+  - 0.0018598103544292903
+outcome:
+  n_episodes_done: 30
+  n_frames: 28847
+  padded_length: 2383
+  frames_per_episode:
+  - 1147
+  - 915
+  - 931
+  - 921
+  - 987
+  - 945
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+  - 971
+  - 912
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+  - 1110
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+  - 1001
+  settled:
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
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+  armed:
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
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+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  settle_time_s:
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+  - 1.9529999999921444
+  - 1.9324199999922271
+  - 2.0710199999916696
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+  pose_flags:
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.118 m/s)
+  - []
+  - []
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.118 m/s)
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.118 m/s)
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.126 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.12 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.121 m/s)
+  - []
+  - []
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.123 m/s)
+  - []
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.116 m/s)
+  - []
+  - []
+schema:
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+    - 33
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+  vertex_vel:
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+    - 33
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+    dtype: float64
+    unit: m/s
+  edge_quat:
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+    - 4
+    dtype: float64
+    unit: unit quaternion, wxyz
+  edge_omega:
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+    dtype: float64
+    unit: rad/s
+  edge_wrench:
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+    - 6
+    dtype: float64
+    unit: N*m torque (0:3), N force (3:6)
+  t:
+    shape:
+    - 30
+    - 2383
+    dtype: float64
+    unit: s since that episode's release, then one -1 stop, then NaN
+  episode_lengths:
+    shape:
+    - 30
+    dtype: int64
+    unit: frames, real count per episode
+  record_hz:
+    shape: []
+    dtype: float64
+    unit: Hz, REQUESTED; take dt from np.diff(t)
+  cable_id:
+    shape: []
+    dtype: int64
+    unit: ''
+  length:
+    shape: []
+    dtype: float64
+    unit: m
+  diameter:
+    shape: []
+    dtype: float64
+    unit: m
+  bend_stiffness:
+    shape: []
+    dtype: float64
+    unit: Pa
+  joint_damping:
+    shape: []
+    dtype: float64
+    unit: N*m*s/rad
+  effective_linear_density:
+    shape: []
+    dtype: float64
+    unit: kg/m

unseen_cables_test/cable_034/episodes.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:607e20e8bc66cf82e17ffc12284d7caa29b1d0d5ba7be4a29c8ffa36f509623e
+size 138304019

unseen_cables_test/cable_034/params.yaml

@@ -0,0 +1,729 @@
+cable:
+  id: 34
+  material: M4_stiff
+  length: 1.25
+  n_segments: 32
+  diameter: 0.002
+  density: 8000.0
+  bend_stiffness: 500000000.0
+  twist_bend_ratio: 0.38
+  joint_damping: 0.01
+  weld_dampratio: 10.0
+  start_height: 1.55
+derived:
+  effective_linear_density: 0.025990605462658595
+  nominal_linear_density: 0.025132741228718343
+  twist_stiffness: 190000000.0
+play:
+  record_hz: 500.0
+  timeout_s: 5.0
+  min_frames: 250
+  settle_v_tol: 0.01
+  settle_arm_v_tol: 0.5
+  settle_window_s: 0.5
+  pose_dwell_s: 5.0
+  pose_release_v_max: 0.3
+  pose_max_resamples: 3
+  reach_horizon_s: 25.0
+  reach_ramp_s: 0.0
+  v_cap: 0.05
+  w_cap: 0.5
+  span_fraction: 0.25
+  box_half_extent: 0.5
+  cone_half_angle: 0.785
+  min_gripper_distance: 0.1
+  monitor_v_max: 0.1
+  monitor_window_s: 0.5
+  require_arming: true
+release:
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+    - 0.06750505731570752
+  release_v_p95:
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+  - 0.001251364875594101
+  - 0.0005029337973604485
+  - 0.00242235023413642
+  - 0.0032353599062707127
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+  - 0.018100669043481295
+  - 0.0073154414998019435
+  - 0.0010017463761796668
+outcome:
+  n_episodes_done: 30
+  n_frames: 29723
+  padded_length: 2383
+  frames_per_episode:
+  - 872
+  - 1040
+  - 865
+  - 878
+  - 918
+  - 1048
+  - 914
+  - 927
+  - 1047
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+  - 1242
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+  - 996
+  - 899
+  - 1048
+  - 864
+  - 851
+  - 1102
+  - 1053
+  - 1018
+  - 1128
+  settled:
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
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+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  armed:
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  settle_time_s:
+  - 1.830779999992636
+  - 2.1827399999912203
+  - 1.8143999999927019
+  - 1.8425399999925887
+  - 1.9261199999922525
+  - 2.1991199999911544
+  - 1.9185599999922829
+  - 1.945859999992173
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+  - 1.8379199999926072
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+  - 2.1088199999915176
+  - 2.032379999991825
+  - 2.0210399999918707
+  - 2.0571599999917254
+  - 2.483879999990009
+  - 1.9634999999921021
+  - 2.0760599999916494
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+  - 1.8135599999927052
+  - 1.78499999999282
+  - 2.313359999990695
+  - 2.210879999991107
+  - 2.136539999991406
+  - 2.3666999999904803
+  pose_flags:
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.129 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.118 m/s)
+  - []
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.13 m/s)
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.119 m/s)
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.123 m/s)
+  - []
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.12 m/s)
+schema:
+  vertex_pos:
+    shape:
+    - 30
+    - 2383
+    - 33
+    - 3
+    dtype: float64
+    unit: m
+  vertex_vel:
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+    - 33
+    - 3
+    dtype: float64
+    unit: m/s
+  edge_quat:
+    shape:
+    - 30
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+    - 32
+    - 4
+    dtype: float64
+    unit: unit quaternion, wxyz
+  edge_omega:
+    shape:
+    - 30
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+    - 3
+    dtype: float64
+    unit: rad/s
+  edge_wrench:
+    shape:
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+    - 2383
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+    - 6
+    dtype: float64
+    unit: N*m torque (0:3), N force (3:6)
+  t:
+    shape:
+    - 30
+    - 2383
+    dtype: float64
+    unit: s since that episode's release, then one -1 stop, then NaN
+  episode_lengths:
+    shape:
+    - 30
+    dtype: int64
+    unit: frames, real count per episode
+  record_hz:
+    shape: []
+    dtype: float64
+    unit: Hz, REQUESTED; take dt from np.diff(t)
+  cable_id:
+    shape: []
+    dtype: int64
+    unit: ''
+  length:
+    shape: []
+    dtype: float64
+    unit: m
+  diameter:
+    shape: []
+    dtype: float64
+    unit: m
+  bend_stiffness:
+    shape: []
+    dtype: float64
+    unit: Pa
+  joint_damping:
+    shape: []
+    dtype: float64
+    unit: N*m*s/rad
+  effective_linear_density:
+    shape: []
+    dtype: float64
+    unit: kg/m

unseen_cables_test/cable_035/episodes.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48f4f5a7cd16d2a00628cab520e42c5d6e55ec77223102b204e616fec08d9b4f
+size 142756628

unseen_cables_test/cable_035/params.yaml

@@ -0,0 +1,729 @@
+cable:
+  id: 35
+  material: M4_stiff
+  length: 1.3
+  n_segments: 32
+  diameter: 0.002
+  density: 8000.0
+  bend_stiffness: 500000000.0
+  twist_bend_ratio: 0.38
+  joint_damping: 0.01
+  weld_dampratio: 10.0
+  start_height: 1.6
+derived:
+  effective_linear_density: 0.025957609762566673
+  nominal_linear_density: 0.025132741228718343
+  twist_stiffness: 190000000.0
+play:
+  record_hz: 500.0
+  timeout_s: 5.0
+  min_frames: 250
+  settle_v_tol: 0.01
+  settle_arm_v_tol: 0.5
+  settle_window_s: 0.5
+  pose_dwell_s: 5.0
+  pose_release_v_max: 0.3
+  pose_max_resamples: 3
+  reach_horizon_s: 25.0
+  reach_ramp_s: 0.0
+  v_cap: 0.05
+  w_cap: 0.5
+  span_fraction: 0.25
+  box_half_extent: 0.5
+  cone_half_angle: 0.785
+  min_gripper_distance: 0.1
+  monitor_v_max: 0.1
+  monitor_window_s: 0.5
+  require_arming: true
+release:
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+  release_v_p95:
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+  - 0.0008102810186325729
+outcome:
+  n_episodes_done: 30
+  n_frames: 30691
+  padded_length: 2383
+  frames_per_episode:
+  - 1037
+  - 918
+  - 944
+  - 966
+  - 1070
+  - 1028
+  - 819
+  - 1166
+  - 918
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+  - 978
+  - 1071
+  - 1000
+  - 987
+  - 984
+  - 940
+  - 995
+  - 992
+  settled:
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
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+  - true
+  - true
+  - true
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+  armed:
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
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+  - true
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+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  settle_time_s:
+  - 2.1764399999912456
+  - 1.9273799999922474
+  - 1.9802999999920345
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+  - 2.2453199999909685
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+  pose_flags:
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.122 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.121 m/s)
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.123 m/s)
+schema:
+  vertex_pos:
+    shape:
+    - 30
+    - 2383
+    - 33
+    - 3
+    dtype: float64
+    unit: m
+  vertex_vel:
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+    - 33
+    - 3
+    dtype: float64
+    unit: m/s
+  edge_quat:
+    shape:
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+    - 32
+    - 4
+    dtype: float64
+    unit: unit quaternion, wxyz
+  edge_omega:
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+    - 3
+    dtype: float64
+    unit: rad/s
+  edge_wrench:
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+    dtype: float64
+    unit: N*m torque (0:3), N force (3:6)
+  t:
+    shape:
+    - 30
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+    dtype: float64
+    unit: s since that episode's release, then one -1 stop, then NaN
+  episode_lengths:
+    shape:
+    - 30
+    dtype: int64
+    unit: frames, real count per episode
+  record_hz:
+    shape: []
+    dtype: float64
+    unit: Hz, REQUESTED; take dt from np.diff(t)
+  cable_id:
+    shape: []
+    dtype: int64
+    unit: ''
+  length:
+    shape: []
+    dtype: float64
+    unit: m
+  diameter:
+    shape: []
+    dtype: float64
+    unit: m
+  bend_stiffness:
+    shape: []
+    dtype: float64
+    unit: Pa
+  joint_damping:
+    shape: []
+    dtype: float64
+    unit: N*m*s/rad
+  effective_linear_density:
+    shape: []
+    dtype: float64
+    unit: kg/m

unseen_cables_test/cable_036/episodes.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b93aafb84b647aa71a64980e09abcdc2bf602be3acfacab0f83fbc49994703d1
+size 147841470

unseen_cables_test/cable_036/params.yaml

@@ -0,0 +1,729 @@
+cable:
+  id: 36
+  material: M4_stiff
+  length: 1.45
+  n_segments: 32
+  diameter: 0.002
+  density: 8000.0
+  bend_stiffness: 500000000.0
+  twist_bend_ratio: 0.38
+  joint_damping: 0.01
+  weld_dampratio: 10.0
+  start_height: 1.75
+derived:
+  effective_linear_density: 0.025872280187923726
+  nominal_linear_density: 0.025132741228718343
+  twist_stiffness: 190000000.0
+play:
+  record_hz: 500.0
+  timeout_s: 5.0
+  min_frames: 250
+  settle_v_tol: 0.01
+  settle_arm_v_tol: 0.5
+  settle_window_s: 0.5
+  pose_dwell_s: 5.0
+  pose_release_v_max: 0.3
+  pose_max_resamples: 3
+  reach_horizon_s: 25.0
+  reach_ramp_s: 0.0
+  v_cap: 0.05
+  w_cap: 0.5
+  span_fraction: 0.25
+  box_half_extent: 0.5
+  cone_half_angle: 0.785
+  min_gripper_distance: 0.1
+  monitor_v_max: 0.1
+  monitor_window_s: 0.5
+  require_arming: true
+release:
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+outcome:
+  n_episodes_done: 30
+  n_frames: 31798
+  padded_length: 2383
+  frames_per_episode:
+  - 1050
+  - 1141
+  - 1041
+  - 1125
+  - 1265
+  - 1162
+  - 1091
+  - 1025
+  - 1115
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+  - 933
+  - 1053
+  - 1115
+  - 1267
+  - 938
+  - 968
+  - 1070
+  - 891
+  settled:
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
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+  armed:
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
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+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  - true
+  settle_time_s:
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+  - 2.3603999999905056
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+  pose_flags:
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+  - - pose move exceeded the quasi-static speed cap (max 0.127 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.13 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.138 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.149 m/s)
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.127 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.126 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.135 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.13 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.138 m/s)
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.123 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.134 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.14 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.137 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.138 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.128 m/s)
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.137 m/s)
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.137 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.137 m/s)
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.141 m/s)
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.149 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.123 m/s)
+schema:
+  vertex_pos:
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+    - 30
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+    dtype: float64
+    unit: m
+  vertex_vel:
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+    - 3
+    dtype: float64
+    unit: m/s
+  edge_quat:
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+    dtype: float64
+    unit: unit quaternion, wxyz
+  edge_omega:
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+    - 3
+    dtype: float64
+    unit: rad/s
+  edge_wrench:
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+    - 32
+    - 6
+    dtype: float64
+    unit: N*m torque (0:3), N force (3:6)
+  t:
+    shape:
+    - 30
+    - 2383
+    dtype: float64
+    unit: s since that episode's release, then one -1 stop, then NaN
+  episode_lengths:
+    shape:
+    - 30
+    dtype: int64
+    unit: frames, real count per episode
+  record_hz:
+    shape: []
+    dtype: float64
+    unit: Hz, REQUESTED; take dt from np.diff(t)
+  cable_id:
+    shape: []
+    dtype: int64
+    unit: ''
+  length:
+    shape: []
+    dtype: float64
+    unit: m
+  diameter:
+    shape: []
+    dtype: float64
+    unit: m
+  bend_stiffness:
+    shape: []
+    dtype: float64
+    unit: Pa
+  joint_damping:
+    shape: []
+    dtype: float64
+    unit: N*m*s/rad
+  effective_linear_density:
+    shape: []
+    dtype: float64
+    unit: kg/m

unseen_cables_test/cable_037/episodes.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd2b33d069981bee8f558f0223ce9cb534bd86e3d969f4ec6c1cabe4bffb7264
+size 154579772

unseen_cables_test/cable_037/params.yaml

@@ -0,0 +1,729 @@
+cable:
+  id: 37
+  material: M4_stiff
+  length: 1.5
+  n_segments: 32
+  diameter: 0.002
+  density: 8000.0
+  bend_stiffness: 500000000.0
+  twist_bend_ratio: 0.38
+  joint_damping: 0.01
+  weld_dampratio: 10.0
+  start_height: 1.8
+derived:
+  effective_linear_density: 0.025847628090335223
+  nominal_linear_density: 0.025132741228718343
+  twist_stiffness: 190000000.0
+play:
+  record_hz: 500.0
+  timeout_s: 5.0
+  min_frames: 250
+  settle_v_tol: 0.01
+  settle_arm_v_tol: 0.5
+  settle_window_s: 0.5
+  pose_dwell_s: 5.0
+  pose_release_v_max: 0.3
+  pose_max_resamples: 3
+  reach_horizon_s: 25.0
+  reach_ramp_s: 0.0
+  v_cap: 0.05
+  w_cap: 0.5
+  span_fraction: 0.25
+  box_half_extent: 0.5
+  cone_half_angle: 0.785
+  min_gripper_distance: 0.1
+  monitor_v_max: 0.1
+  monitor_window_s: 0.5
+  require_arming: true
+release:
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+  n_frames: 33249
+  padded_length: 2383
+  frames_per_episode:
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+  - true
+  - true
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+  - true
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+  - true
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+  pose_flags:
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+  - - pose move exceeded the quasi-static speed cap (max 0.153 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.129 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.136 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.143 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.145 m/s)
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.143 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.13 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.138 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.126 m/s)
+  - []
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.137 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.143 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.128 m/s)
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.15 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.143 m/s)
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.124 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.142 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.127 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.133 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.137 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.148 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.14 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.155 m/s)
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.148 m/s)
+schema:
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+    dtype: float64
+    unit: N*m torque (0:3), N force (3:6)
+  t:
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+    dtype: float64
+    unit: s since that episode's release, then one -1 stop, then NaN
+  episode_lengths:
+    shape:
+    - 30
+    dtype: int64
+    unit: frames, real count per episode
+  record_hz:
+    shape: []
+    dtype: float64
+    unit: Hz, REQUESTED; take dt from np.diff(t)
+  cable_id:
+    shape: []
+    dtype: int64
+    unit: ''
+  length:
+    shape: []
+    dtype: float64
+    unit: m
+  diameter:
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+    dtype: float64
+    unit: m
+  bend_stiffness:
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+    dtype: float64
+    unit: Pa
+  joint_damping:
+    shape: []
+    dtype: float64
+    unit: N*m*s/rad
+  effective_linear_density:
+    shape: []
+    dtype: float64
+    unit: kg/m

unseen_cables_test/cable_038/episodes.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0ad6013f0d074f5f5b2f97948c148cc471f4188b1391cfdbe113456153e8235
+size 179747986

unseen_cables_test/cable_038/params.yaml

@@ -0,0 +1,729 @@
+cable:
+  id: 38
+  material: M5_very_stiff
+  length: 1.45
+  n_segments: 32
+  diameter: 0.0015
+  density: 8000.0
+  bend_stiffness: 1000000000.0
+  twist_bend_ratio: 0.38
+  joint_damping: 0.01
+  weld_dampratio: 10.0
+  start_height: 1.75
+derived:
+  effective_linear_density: 0.01444916005579516
+  nominal_linear_density: 0.01413716694115407
+  twist_stiffness: 380000000.0
+play:
+  record_hz: 500.0
+  timeout_s: 5.0
+  min_frames: 250
+  settle_v_tol: 0.01
+  settle_arm_v_tol: 0.5
+  settle_window_s: 0.5
+  pose_dwell_s: 5.0
+  pose_release_v_max: 0.3
+  pose_max_resamples: 3
+  reach_horizon_s: 25.0
+  reach_ramp_s: 0.0
+  v_cap: 0.05
+  w_cap: 0.5
+  span_fraction: 0.25
+  box_half_extent: 0.5
+  cone_half_angle: 0.785
+  min_gripper_distance: 0.1
+  monitor_v_max: 0.1
+  monitor_window_s: 0.5
+  require_arming: true
+release:
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+  n_frames: 38760
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+  - - pose move exceeded the quasi-static speed cap (max 0.148 m/s)
+  - []
+  - []
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+  - - pose move exceeded the quasi-static speed cap (max 0.134 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.149 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.13 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.137 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.135 m/s)
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+  - - pose move exceeded the quasi-static speed cap (max 0.139 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.138 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.143 m/s)
+  - []
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+  - - pose move exceeded the quasi-static speed cap (max 0.128 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.154 m/s)
+  - []
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+  - - pose move exceeded the quasi-static speed cap (max 0.153 m/s)
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.129 m/s)
+  - []
+schema:
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+    dtype: float64
+    unit: N*m torque (0:3), N force (3:6)
+  t:
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+    dtype: float64
+    unit: s since that episode's release, then one -1 stop, then NaN
+  episode_lengths:
+    shape:
+    - 30
+    dtype: int64
+    unit: frames, real count per episode
+  record_hz:
+    shape: []
+    dtype: float64
+    unit: Hz, REQUESTED; take dt from np.diff(t)
+  cable_id:
+    shape: []
+    dtype: int64
+    unit: ''
+  length:
+    shape: []
+    dtype: float64
+    unit: m
+  diameter:
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+    dtype: float64
+    unit: m
+  bend_stiffness:
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+    dtype: float64
+    unit: Pa
+  joint_damping:
+    shape: []
+    dtype: float64
+    unit: N*m*s/rad
+  effective_linear_density:
+    shape: []
+    dtype: float64
+    unit: kg/m

unseen_cables_test/cable_039/episodes.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d161b87d4cfa6eaabe0231e062ea893cf07ca7d8a0dc6c26f0722c450abb7a36
+size 175336704

unseen_cables_test/cable_039/params.yaml

@@ -0,0 +1,729 @@
+cable:
+  id: 39
+  material: M5_very_stiff
+  length: 1.5
+  n_segments: 32
+  diameter: 0.0015
+  density: 8000.0
+  bend_stiffness: 1000000000.0
+  twist_bend_ratio: 0.38
+  joint_damping: 0.01
+  weld_dampratio: 10.0
+  start_height: 1.8
+derived:
+  effective_linear_density: 0.014438759835898688
+  nominal_linear_density: 0.01413716694115407
+  twist_stiffness: 380000000.0
+play:
+  record_hz: 500.0
+  timeout_s: 5.0
+  min_frames: 250
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+  - - pose move exceeded the quasi-static speed cap (max 0.139 m/s)
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.134 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.142 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.142 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.142 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.123 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.146 m/s)
+  - - pose move exceeded the quasi-static speed cap (max 0.139 m/s)
+  - []
+  - - pose move exceeded the quasi-static speed cap (max 0.139 m/s)
+schema:
+  vertex_pos:
+    shape:
+    - 30
+    - 2383
+    - 33
+    - 3
+    dtype: float64
+    unit: m
+  vertex_vel:
+    shape:
+    - 30
+    - 2383
+    - 33
+    - 3
+    dtype: float64
+    unit: m/s
+  edge_quat:
+    shape:
+    - 30
+    - 2383
+    - 32
+    - 4
+    dtype: float64
+    unit: unit quaternion, wxyz
+  edge_omega:
+    shape:
+    - 30
+    - 2383
+    - 32
+    - 3
+    dtype: float64
+    unit: rad/s
+  edge_wrench:
+    shape:
+    - 30
+    - 2383
+    - 32
+    - 6
+    dtype: float64
+    unit: N*m torque (0:3), N force (3:6)
+  t:
+    shape:
+    - 30
+    - 2383
+    dtype: float64
+    unit: s since that episode's release, then one -1 stop, then NaN
+  episode_lengths:
+    shape:
+    - 30
+    dtype: int64
+    unit: frames, real count per episode
+  record_hz:
+    shape: []
+    dtype: float64
+    unit: Hz, REQUESTED; take dt from np.diff(t)
+  cable_id:
+    shape: []
+    dtype: int64
+    unit: ''
+  length:
+    shape: []
+    dtype: float64
+    unit: m
+  diameter:
+    shape: []
+    dtype: float64
+    unit: m
+  bend_stiffness:
+    shape: []
+    dtype: float64
+    unit: Pa
+  joint_damping:
+    shape: []
+    dtype: float64
+    unit: N*m*s/rad
+  effective_linear_density:
+    shape: []
+    dtype: float64
+    unit: kg/m

unseen_cables_test/datagen.yaml

@@ -0,0 +1,90 @@
+seed: 3
+backend: native
+episodes_per_cable: 30
+cable_ids:
+- 0
+- 1
+- 2
+- 3
+- 4
+- 5
+- 6
+- 7
+- 8
+- 9
+- 10
+- 11
+- 12
+- 13
+- 14
+- 15
+- 16
+- 17
+- 18
+- 19
+- 20
+- 21
+- 22
+- 23
+- 24
+- 25
+- 26
+- 27
+- 28
+- 29
+- 30
+- 31
+- 32
+- 33
+- 34
+- 35
+- 36
+- 37
+- 38
+- 39
+cables_csv: /home/rotem/Documents/Claude/Projects/PHD/06_courses/graph_ml_and_neural_learning/final_project/configs/unseen_cables_test.csv
+scene:
+  timestep: 0.00042
+  integrator: implicitfast
+  gravity:
+  - 0.0
+  - 0.0
+  - -9.81
+  torquescale: 100.0
+  marker_radius: 0.008
+  n_feature_points: 32
+  build_settle_v_tol: 0.001
+  build_settle_max_s: 8.0
+  settle_max_steps: 50000
+  settle_check_every: 100
+  contact_timeconst: 0.00084
+  contact_dampratio: 1.0
+  obstacles: []
+episode:
+  record_hz: 500.0
+  timeout_s: 5.0
+  min_frames: 250
+  settle_v_tol: 0.01
+  settle_arm_v_tol: 0.5
+  settle_window_s: 0.5
+  pose_dwell_s: 5.0
+  pose_release_v_max: 0.3
+  pose_max_resamples: 3
+  reach_horizon_s: 25.0
+  reach_ramp_s: 0.0
+  v_cap: 0.05
+  w_cap: 0.5
+  span_fraction: 0.25
+  box_half_extent: 0.5
+  cone_half_angle: 0.785
+  min_gripper_distance: 0.1
+  monitor_v_max: 0.1
+  monitor_window_s: 0.5
+  require_arming: true
+git:
+  dlogps:
+    sha: 7cf60afce86871501c0cff31797619edb2f9078e
+    dirty: false
+  mujoco_sim:
+    sha: 28db8d59b27dc593eda01b5c515eb6c244d75b2c
+    dirty: true

unseen_cables_test/index.csv

@@ -0,0 +1,41 @@
+id,material,length,diameter,n_episodes,n_frames,flagged,passed
+000,M1_very_soft,0.95,0.00375,30,20942,False,True
+001,M1_very_soft,1.0,0.00375,30,22866,False,True
+002,M1_very_soft,1.25,0.00375,30,22524,True,True
+003,M1_very_soft,1.5,0.00375,30,22431,True,True
+004,M1_very_soft,0.95,0.00625,30,18133,False,True
+005,M1_very_soft,1.0,0.00625,30,18457,False,True
+006,M1_very_soft,1.25,0.00625,30,21845,True,True
+007,M1_very_soft,1.5,0.00625,30,24625,True,True
+008,M1_very_soft,0.95,0.00875,30,20153,False,True
+009,M1_very_soft,1.0,0.00875,30,19948,False,True
+010,M1_very_soft,1.25,0.00875,30,20777,True,True
+011,M1_very_soft,1.5,0.00875,30,21561,True,True
+012,M2_soft,0.95,0.00375,30,20799,False,True
+013,M2_soft,1.0,0.00375,30,19234,False,True
+014,M2_soft,1.25,0.00375,30,20406,True,True
+015,M2_soft,1.5,0.00375,30,21158,True,True
+016,M2_soft,0.95,0.00625,30,19673,True,True
+017,M2_soft,1.0,0.00625,30,19911,True,True
+018,M2_soft,1.25,0.00625,30,22593,True,True
+019,M2_soft,1.5,0.00625,30,21725,True,True
+020,M2_soft,0.95,0.00875,30,19517,True,True
+021,M2_soft,1.0,0.00875,30,19844,True,True
+022,M2_soft,1.25,0.00875,30,20860,True,True
+023,M2_soft,1.5,0.00875,30,22005,True,True
+024,M3_medium,0.95,0.00375,30,19971,True,True
+025,M3_medium,1.0,0.00375,30,19392,True,True
+026,M3_medium,1.2,0.00375,30,20990,True,True
+027,M3_medium,1.25,0.00375,30,22742,True,True
+028,M3_medium,1.3,0.00375,30,23513,True,True
+029,M3_medium,1.45,0.00375,30,21767,True,True
+030,M3_medium,1.5,0.00375,30,22476,True,True
+031,M4_stiff,0.95,0.002,30,26359,True,True
+032,M4_stiff,1.0,0.002,30,27253,True,True
+033,M4_stiff,1.2,0.002,30,28847,True,True
+034,M4_stiff,1.25,0.002,30,29723,True,True
+035,M4_stiff,1.3,0.002,30,30691,True,True
+036,M4_stiff,1.45,0.002,30,31798,True,True
+037,M4_stiff,1.5,0.002,30,33249,True,True
+038,M5_very_stiff,1.45,0.0015,30,38760,True,True
+039,M5_very_stiff,1.5,0.0015,30,37758,True,True