multi_query_tracking.csv

scene,scene_file,query,seed,direct_path_free,plant,controller,trajectory_samples,trajectory_duration_s,rms_joint_rad,max_joint_rad,final_joint_rad,max_ee_pos_m,peak_force_fraction,saturated_step_fraction,settle_penetration_steps,settle_max_penetration_m,settle_worst_contact_distance_m,settle_worst_contact,path_penetration_steps,path_max_penetration_m,path_worst_contact_distance_m,path_worst_contact,hold_penetration_steps,hold_max_penetration_m,hold_worst_contact_distance_m,hold_worst_contact,penetration_steps,max_penetration_m,pass
open_floor,scene.xml,positive_pan,20260816,true,nominal,position PD,1267,2.53200000,0.09126566,0.10944892,0.01190067,0.05655751,0.11130836,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
open_floor,scene.xml,positive_pan,20260816,true,nominal,PD + velocity FF,1267,2.53200000,0.01167637,0.01177028,0.01164123,0.00836158,0.11323883,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,true
open_floor,scene.xml,positive_pan,20260816,true,combined moderate shift,position PD,1267,2.53200000,0.09729046,0.11628320,0.01948342,0.06070552,0.14793896,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
open_floor,scene.xml,positive_pan,20260816,true,combined moderate shift,PD + velocity FF,1267,2.53200000,0.01954720,0.02020244,0.01932484,0.01410868,0.14794212,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,true
open_floor,scene.xml,shoulder_elbow,20260816,true,nominal,position PD,767,1.53200000,0.11170047,0.15509138,0.01725253,0.04527464,0.20978783,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
open_floor,scene.xml,shoulder_elbow,20260816,true,nominal,PD + velocity FF,767,1.53200000,0.01403521,0.01762031,0.01759918,0.01464365,0.22202001,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,true
open_floor,scene.xml,shoulder_elbow,20260816,true,combined moderate shift,position PD,767,1.53200000,0.11870477,0.16418064,0.02664161,0.04894744,0.25144476,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
open_floor,scene.xml,shoulder_elbow,20260816,true,combined moderate shift,PD + velocity FF,767,1.53200000,0.02221997,0.02701788,0.02713647,0.02242684,0.26367427,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
open_floor,scene.xml,wrist_reorientation,20260816,true,nominal,position PD,903,1.80400000,0.12448275,0.16389522,0.01054207,0.03188671,0.11148916,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
open_floor,scene.xml,wrist_reorientation,20260816,true,nominal,PD + velocity FF,903,1.80400000,0.01090556,0.01161884,0.00979879,0.00825366,0.11397590,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,true
open_floor,scene.xml,wrist_reorientation,20260816,true,combined moderate shift,position PD,903,1.80400000,0.13382543,0.17597616,0.01867978,0.03554089,0.14698110,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
open_floor,scene.xml,wrist_reorientation,20260816,true,combined moderate shift,PD + velocity FF,903,1.80400000,0.01997253,0.02150478,0.01763537,0.01368149,0.14750754,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,true
offset_pillar,scene_cluttered.xml,positive_pan,20260816,false,nominal,position PD,1919,3.83600000,0.14056743,0.18990497,0.01112002,0.07701404,0.12082232,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
offset_pillar,scene_cluttered.xml,positive_pan,20260816,false,nominal,PD + velocity FF,1919,3.83600000,0.00933848,0.01218182,0.01167759,0.00862841,0.12880951,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,true
offset_pillar,scene_cluttered.xml,positive_pan,20260816,false,combined moderate shift,position PD,1919,3.83600000,0.14939700,0.19935806,0.01865729,0.08522915,0.15629321,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
offset_pillar,scene_cluttered.xml,positive_pan,20260816,false,combined moderate shift,PD + velocity FF,1919,3.83600000,0.01796226,0.02406824,0.01938419,0.01683281,0.16517620,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,true
offset_pillar,scene_cluttered.xml,negative_pan,20260816,true,nominal,position PD,1176,2.35000000,0.08970167,0.10942514,0.01196698,0.05575597,0.11159262,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
offset_pillar,scene_cluttered.xml,negative_pan,20260816,true,nominal,PD + velocity FF,1176,2.35000000,0.01164990,0.01190300,0.01165933,0.00848630,0.11317466,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,true
offset_pillar,scene_cluttered.xml,negative_pan,20260816,true,combined moderate shift,position PD,1176,2.35000000,0.09565584,0.11625230,0.01955947,0.05952563,0.14797427,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
offset_pillar,scene_cluttered.xml,negative_pan,20260816,true,combined moderate shift,PD + velocity FF,1176,2.35000000,0.01949197,0.01996512,0.01934506,0.01378905,0.14794562,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,true
offset_pillar,scene_cluttered.xml,shoulder_elbow,20260816,true,nominal,position PD,767,1.53200000,0.11170047,0.15509138,0.01725253,0.04527464,0.20978783,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
offset_pillar,scene_cluttered.xml,shoulder_elbow,20260816,true,nominal,PD + velocity FF,767,1.53200000,0.01403521,0.01762031,0.01759918,0.01464365,0.22202001,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,true
offset_pillar,scene_cluttered.xml,shoulder_elbow,20260816,true,combined moderate shift,position PD,767,1.53200000,0.11870477,0.16418064,0.02664161,0.04894744,0.25144476,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
offset_pillar,scene_cluttered.xml,shoulder_elbow,20260816,true,combined moderate shift,PD + velocity FF,767,1.53200000,0.02221997,0.02701788,0.02713647,0.02242684,0.26367427,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
tabletop_pillar,scene_pickplace.xml,cross_workspace,20260816,false,nominal,position PD,1767,3.53200000,0.09264787,0.12036993,0.01516396,0.06381392,0.16914357,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
tabletop_pillar,scene_pickplace.xml,cross_workspace,20260816,false,nominal,PD + velocity FF,1767,3.53200000,0.01286905,0.01512912,0.01517728,0.01215330,0.17798865,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,true
tabletop_pillar,scene_pickplace.xml,cross_workspace,20260816,false,combined moderate shift,position PD,1767,3.53200000,0.09919446,0.12766973,0.02389160,0.06859586,0.20824912,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
tabletop_pillar,scene_pickplace.xml,cross_workspace,20260816,false,combined moderate shift,PD + velocity FF,1767,3.53200000,0.02133905,0.02508392,0.02400099,0.01907323,0.21776130,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
tabletop_pillar,scene_pickplace.xml,reverse_cross_workspace,20260816,false,nominal,position PD,2060,4.11800000,0.09011154,0.13616534,0.01354629,0.05960294,0.28795468,0.00000000,0,0.00000000,,,23,0.00003041,-0.00003041,geom#27[27]@wrist_2_link vs pillar[31]@pillar,0,0.00000000,,,23,0.00003041,false
tabletop_pillar,scene_pickplace.xml,reverse_cross_workspace,20260816,false,nominal,PD + velocity FF,2060,4.11800000,0.01276119,0.01425913,0.01307331,0.01127127,0.31932914,0.00000000,0,0.00000000,,,18,0.00003100,-0.00003100,geom#27[27]@wrist_2_link vs pillar[31]@pillar,0,0.00000000,,,18,0.00003100,false
tabletop_pillar,scene_pickplace.xml,reverse_cross_workspace,20260816,false,combined moderate shift,position PD,2060,4.11800000,0.09698469,0.14724167,0.02222198,0.06550136,0.33294214,0.00000000,0,0.00000000,,,54,0.00007856,-0.00007856,geom#27[27]@wrist_2_link vs pillar[31]@pillar,0,0.00000000,,,54,0.00007856,false
tabletop_pillar,scene_pickplace.xml,reverse_cross_workspace,20260816,false,combined moderate shift,PD + velocity FF,2060,4.11800000,0.02111826,0.02405381,0.02159865,0.01831104,0.39121977,0.00000000,0,0.00000000,,,43,0.00007565,-0.00007565,geom#27[27]@wrist_2_link vs pillar[31]@pillar,0,0.00000000,,,43,0.00007565,false
tabletop_pillar,scene_pickplace.xml,wrist_reorientation,20260816,true,nominal,position PD,903,1.80400000,0.12448275,0.16389522,0.01054207,0.03188671,0.11148916,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
tabletop_pillar,scene_pickplace.xml,wrist_reorientation,20260816,true,nominal,PD + velocity FF,903,1.80400000,0.01090556,0.01161884,0.00979879,0.00825366,0.11397590,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,true
tabletop_pillar,scene_pickplace.xml,wrist_reorientation,20260816,true,combined moderate shift,position PD,903,1.80400000,0.13382543,0.17597616,0.01867978,0.03554089,0.14698110,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,false
tabletop_pillar,scene_pickplace.xml,wrist_reorientation,20260816,true,combined moderate shift,PD + velocity FF,903,1.80400000,0.01997253,0.02150478,0.01763537,0.01368149,0.14750754,0.00000000,0,0.00000000,,,0,0.00000000,,,0,0.00000000,,,0,0.00000000,true