From 4320e40b6bf701d56e8e518597a9b0626d0205ec Mon Sep 17 00:00:00 2001 From: Dylan Gallagher <76841713+Dylan-Gallagher@users.noreply.github.com> Date: Mon, 17 Aug 2026 11:57:41 +0100 Subject: [PATCH 1/3] Predeclare randomized evaluation protocol Freeze the query distribution, planning ablation, nominal tracking comparison, artifact schema, and interpretation boundaries before generating any result-bearing randomized benchmark output. Signed-off-by: Dylan Gallagher <76841713+Dylan-Gallagher@users.noreply.github.com> --- docs/randomized_eval_protocol.md | 140 +++++++++++++++++++++++++++++++ 1 file changed, 140 insertions(+) create mode 100644 docs/randomized_eval_protocol.md diff --git a/docs/randomized_eval_protocol.md b/docs/randomized_eval_protocol.md new file mode 100644 index 0000000..674dd85 --- /dev/null +++ b/docs/randomized_eval_protocol.md @@ -0,0 +1,140 @@ +# Randomized planning and nominal-tracking evaluation protocol + +Frozen before generating any result-bearing randomized-evaluation artifact on +2026-08-17 (Europe/Dublin). + +## Purpose + +The v0.2.0 multi-query benchmark uses nine transparent, hand-designed +scene-query fixtures. This extension asks whether the same planner and two +minimum controller variants behave similarly on joint-space queries drawn from +a declared distribution. It adds evidence; it does not replace or reinterpret +the fixed benchmark. + +No planner, controller, collision predicate, trajectory limit, actuator, or +pass threshold may be tuned from this evaluation's outcomes. Every accepted +query and every failure will be retained. + +## Query distribution + +Evaluate all three shipped scenes independently: `scene.xml`, +`scene_cluttered.xml`, and `scene_pickplace.xml`. + +For each scene: + +1. initialize the repository's SplitMix64 generator with seed + `202608170100 + scene_index`; +2. draw start and goal independently using `Chain::sample_uniform`, which is + uniform inside each compiled joint limit with the repository's existing + 0.05-rad inset; +3. reject the pair if either endpoint triggers the unchanged planner collision + predicate or if start-goal joint-space L2 distance is below 0.75 rad; and +4. accept the first 100 remaining pairs, without filtering on direct-path + feasibility or planner outcome. + +The maximum is 100,000 attempted pairs per scene. Reaching it before accepting +100 is an implementation/evaluation failure, not permission to weaken the +distribution. Record accepted draw index and aggregate rejection counts. + +This is a deterministic sample from a conditional joint-space distribution, +not a workspace-uniform task distribution. The three samples are independent +across scenes and are not paired configurations. + +## Planning comparisons + +The direct-interpolation baseline uses the existing `edge_free` predicate at +0.05-rad joint-space L2 spacing. + +For every accepted query, run the unchanged default RRT-Connect configuration: + +- 2,000 maximum iterations; +- 0.25-rad extension step; +- 0.05-rad collision-check resolution; +- 0.05 goal bias; +- 40 random shortcut attempts; and +- densified output. + +The planner seed is +`202608180000 + 10000*scene_index + 10*query_index + replicate`, where the +zero-based replicate is 0 for the canonical run. + +For every query whose direct interpolant is blocked, run five replicates +(`replicate = 0..4`) of both: + +1. the unchanged default planner; and +2. a single ablation that changes only `goal_bias` from 0.05 to 0.0. + +The canonical default trial is therefore included in the five default +replicates; do not duplicate it in the artifact. Direct-free queries receive +only the canonical trial because both RRT configurations take the identical +early direct-path return before sampling. + +Primary planning outputs, by scene and equally weighted pooled sample, are: + +- direct-interpolation success count and Wilson 95% interval; +- canonical default RRT success count and Wilson 95% interval; +- number of blocked-direct queries recovered by canonical RRT; +- all planner status, iterations, nodes, waypoints, sampled path length, and + non-authoritative wall time; and +- for blocked queries, default-versus-zero-goal-bias replicate success counts + and per-query counts out of five. + +Five planner repeats on one query are not five independent task samples. Do +not attach query-distribution confidence intervals to repeated-trial counts. + +## Nominal tracking comparison + +For every query whose canonical default plan succeeds, time-parameterize that +exact path with the unchanged limits (0.55 rad/s, 1.8 rad/s^2, 8 rad/s^3) and +the scene's 2-ms simulation step. Replay the same trajectory on the unchanged +nominal plant using: + +1. position PD; and +2. position PD plus desired-velocity feedforward with `kv/kp = 0.2`. + +Use the existing 250-step settle and 250-step final hold. Retain temporal RMS, +maximum, and final six-joint L2 error, maximum end-effector position error, +peak actuator-force fraction, saturated-step fraction, and sampled emitted +robot penetration in settle/path/hold. + +The unchanged numeric gates are RMS <= 0.03 rad, maximum <= 0.10 rad, and final +<= 0.02 rad. A full pass additionally requires zero sampled penetration +(`dist < 0`) at every 2-ms state. Report both numeric and full pass counts, +Wilson 95% intervals by controller, and the paired counts `FF pass / PD fail` +and `PD pass / FF fail`. Planning failures remain in the query denominator and +are explicitly reported as having no tracking replay. + +## Artifacts and reproducibility + +Add one bounded executable with `--write` and `--check` modes and commit: + +- `docs/randomized_eval_queries.csv` — every accepted query and sampling + provenance; +- `docs/randomized_eval_planning.csv` — every canonical and blocked-query + replicate outcome; +- `docs/randomized_eval_tracking.csv` — both controller outcomes for every + successful canonical plan; and +- `docs/randomized_eval_results.md` — aggregate results, intervals, retained + failures, and scope limitations. + +`--check` must regenerate and exact-compare all deterministic fields and +outcomes. Only measured planner wall time may be normalized. Unit tests must +cover seed derivation, cohort layout, interval calculation, pass gating, and +stale-artifact rejection. CI must run the full bounded check. + +## Interpretation and promotion rules + +- No outcome threshold controls whether failures are published or retained. +- A negative or mixed result cannot trigger query removal, seed replacement, + threshold changes, or a new post-hoc planner configuration. +- Wilson intervals describe repeated draws from the declared conditional + generator; they do not certify arbitrary workspaces, scenes, obstacles, or + real tasks. +- Collision checks remain sampled rather than continuous; tracking remains + simulation-only; no hardware, grasp, uncertainty, or sim-to-real claim is + introduced. +- The branch may be merged only after formatting, strict linting, all existing + tests, the new unit tests, full `--check`, artifact-schema audits, and a + result-independent source review pass. The exact result, favorable or not, + determines the wording of any paper or release claim—not whether the raw + evidence is preserved. From ac241606a6b443f32e2e0fdc8fe0f8fd68b8f0ac Mon Sep 17 00:00:00 2001 From: Dylan Gallagher <76841713+Dylan-Gallagher@users.noreply.github.com> Date: Mon, 17 Aug 2026 12:16:15 +0100 Subject: [PATCH 2/3] Add randomized planning and tracking evaluator Implement the frozen 300-query multi-scene sample, blocked-path goal-bias ablation, paired nominal controller replay, raw artifact rendering, and deterministic artifact checker without changing production planning or control. Signed-off-by: Dylan Gallagher <76841713+Dylan-Gallagher@users.noreply.github.com> --- .github/workflows/ci.yml | 2 + .../arm-lab-demo/src/bin/randomized_eval.rs | 1089 +++++++++++++++++ 2 files changed, 1091 insertions(+) create mode 100644 crates/arm-lab-demo/src/bin/randomized_eval.rs diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index be4befb..6f5dc44 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -39,7 +39,9 @@ jobs: export LD_LIBRARY_PATH="$MUJOCO_DOWNLOAD_DIR/mujoco-3.9.0/lib${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}" cargo test --release -p arm-lab cargo test --release -p arm-lab-demo --bin multi_query_bench + cargo test --release -p arm-lab-demo --bin randomized_eval cargo run --release -p arm-lab-demo --bin multi_query_bench -- --check + cargo run --release -p arm-lab-demo --bin randomized_eval -- --check - name: Build demo (no GL runtime needed to compile) run: cargo build --release -p arm-lab-demo diff --git a/crates/arm-lab-demo/src/bin/randomized_eval.rs b/crates/arm-lab-demo/src/bin/randomized_eval.rs new file mode 100644 index 0000000..a09ff1f --- /dev/null +++ b/crates/arm-lab-demo/src/bin/randomized_eval.rs @@ -0,0 +1,1089 @@ +//! Predeclared randomized planning and nominal-tracking evaluation. +//! +//! The complete design and interpretation boundaries are frozen in +//! `docs/randomized_eval_protocol.md`. This executable retains all accepted +//! queries and outcomes; it does not enforce result-based promotion gates. +//! +//! ```text +//! cargo run --release -p arm-lab-demo --bin randomized_eval +//! cargo run --release -p arm-lab-demo --bin randomized_eval -- --write +//! cargo run --release -p arm-lab-demo --bin randomized_eval -- --check +//! ``` + +use std::fmt::Write as _; +use std::path::Path; + +use arm_lab::plan::{PlanStatus, edge_free, rrt_connect}; +use arm_lab::traj::{TrajLimits, Trajectory, time_parameterize}; +use arm_lab::{Chain, CollisionChecker, PlanConfig, Rng}; +use arm_lab_demo::{read_q, set_ctrl}; +use mujoco_rs::prelude::*; + +const ASSET_DIR: &str = concat!(env!("CARGO_MANIFEST_DIR"), "/../../assets/ur5e/"); +const ACTUATORS: [&str; 6] = [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", +]; + +const QUERIES_PER_SCENE: usize = 100; +const MAX_DRAWS_PER_SCENE: usize = 100_000; +const MIN_QUERY_DISTANCE_RAD: f64 = 0.75; +const QUERY_SEED_BASE: u64 = 202_608_170_100; +const PLANNER_SEED_BASE: u64 = 202_608_180_000; +const BLOCKED_REPLICATES: usize = 5; + +const KV_OVER_KP: f64 = 0.2; +const SETTLE_STEPS: usize = 250; +const HOLD_STEPS: usize = 250; +const PASS_RMS_RAD: f64 = 0.03; +const PASS_MAX_RAD: f64 = 0.10; +const PASS_FINAL_RAD: f64 = 0.02; +const EXECUTION_CONTACT_THRESHOLD_M: f64 = 0.0; +const LIMITS: TrajLimits = TrajLimits { + v_max: 0.55, + a_max: 1.8, + j_max: 8.0, +}; + +#[derive(Clone, Copy)] +struct Scene { + name: &'static str, + file: &'static str, +} + +const SCENES: [Scene; 3] = [ + Scene { + name: "open_floor", + file: "scene.xml", + }, + Scene { + name: "offset_pillar", + file: "scene_cluttered.xml", + }, + Scene { + name: "tabletop_pillar", + file: "scene_pickplace.xml", + }, +]; + +#[derive(Clone)] +struct QueryRow { + scene_index: usize, + scene: &'static str, + scene_file: &'static str, + query_index: usize, + generator_seed: u64, + accepted_draw_index: usize, + rejected_start_collision: usize, + rejected_goal_collision: usize, + rejected_short: usize, + start: Vec, + goal: Vec, + distance_rad: f64, + direct_free: bool, +} + +#[derive(Clone, Copy, PartialEq, Eq)] +enum PlannerVariant { + Default, + ZeroGoalBias, +} + +impl PlannerVariant { + fn name(self) -> &'static str { + match self { + Self::Default => "default", + Self::ZeroGoalBias => "zero_goal_bias", + } + } + + fn config(self, seed: u64) -> PlanConfig { + PlanConfig { + seed, + goal_bias: match self { + Self::Default => PlanConfig::default().goal_bias, + Self::ZeroGoalBias => 0.0, + }, + ..PlanConfig::default() + } + } +} + +struct PlanningRow { + scene: &'static str, + scene_file: &'static str, + query_index: usize, + variant: PlannerVariant, + replicate: usize, + seed: u64, + direct_free: bool, + status: PlanStatus, + elapsed_ms: f64, + iterations: usize, + nodes: usize, + shortcut_waypoints: usize, + path_samples: usize, + path_cost_rad: f64, +} + +#[derive(Clone, Copy, PartialEq, Eq)] +enum Controller { + Position, + VelocityFf, +} + +impl Controller { + fn name(self) -> &'static str { + match self { + Self::Position => "position PD", + Self::VelocityFf => "PD + velocity FF", + } + } + + fn velocity_ff(self) -> bool { + matches!(self, Self::VelocityFf) + } +} + +const CONTROLLERS: [Controller; 2] = [Controller::Position, Controller::VelocityFf]; + +struct TrackingRow { + scene: &'static str, + scene_file: &'static str, + query_index: usize, + seed: u64, + direct_free: bool, + controller: Controller, + trajectory_samples: usize, + trajectory_duration_s: f64, + rms_joint_rad: f64, + max_joint_rad: f64, + final_joint_rad: f64, + max_ee_pos_m: f64, + peak_force_fraction: f64, + saturated_step_fraction: f64, + settle_penetration_steps: usize, + path_penetration_steps: usize, + hold_penetration_steps: usize, + max_penetration_m: f64, + worst_contact: Option, + numeric_pass: bool, + full_pass: bool, +} + +#[derive(Default)] +struct PenetrationMetrics { + steps: usize, + max_penetration_m: f64, + worst_contact: Option, +} + +impl PenetrationMetrics { + fn observe(&mut self, checker: &mut CollisionChecker<&MjModel>, q: &[f64]) { + let contacts = checker.robot_contacts(q); + if contacts.is_empty() { + return; + } + self.steps += 1; + for contact in contacts { + let penetration = (-contact.distance_m).max(0.0); + if penetration > self.max_penetration_m { + self.max_penetration_m = penetration; + self.worst_contact = Some(contact.identity()); + } + } + } +} + +#[derive(Clone, Copy, PartialEq, Eq)] +enum Mode { + Run, + Write, + Check, +} + +fn parse_mode() -> Mode { + let args: Vec = std::env::args().skip(1).collect(); + match args.as_slice() { + [] => Mode::Run, + [arg] if arg == "--write" => Mode::Write, + [arg] if arg == "--check" => Mode::Check, + _ => panic!("usage: randomized_eval [--write|--check]"), + } +} + +fn main() { + let mode = parse_mode(); + let mut queries = Vec::with_capacity(SCENES.len() * QUERIES_PER_SCENE); + let mut planning = Vec::new(); + let mut tracking = Vec::new(); + + for (scene_index, scene) in SCENES.iter().copied().enumerate() { + let model = load_model(scene); + let chain = extract_chain(&model); + let scene_queries = sample_queries(scene_index, scene, &model, &chain); + let blocked = scene_queries + .iter() + .filter(|query| !query.direct_free) + .count(); + println!( + "{}: sampled {} queries ({} direct-free, {} blocked)", + scene.name, + scene_queries.len(), + scene_queries.len() - blocked, + blocked + ); + + for query in &scene_queries { + let mut canonical_trajectory = None; + let variants: &[PlannerVariant] = if query.direct_free { + &[PlannerVariant::Default] + } else { + &[PlannerVariant::Default, PlannerVariant::ZeroGoalBias] + }; + + for &variant in variants { + let replicates = if query.direct_free { + 1 + } else { + BLOCKED_REPLICATES + }; + for replicate in 0..replicates { + let seed = planner_seed(scene_index, query.query_index, replicate); + let mut collision = CollisionChecker::new(&model, &chain); + let plan = rrt_connect( + &chain, + &query.start, + &query.goal, + |q| collision.collides(q), + &variant.config(seed), + ); + if variant == PlannerVariant::Default + && replicate == 0 + && plan.status == PlanStatus::Success + { + canonical_trajectory = Some(( + seed, + time_parameterize(&plan.path, &LIMITS, model.opt().timestep), + )); + } + planning.push(PlanningRow { + scene: scene.name, + scene_file: scene.file, + query_index: query.query_index, + variant, + replicate, + seed, + direct_free: query.direct_free, + status: plan.status, + elapsed_ms: 1e3 * plan.elapsed_s, + iterations: plan.iterations, + nodes: plan.nodes, + shortcut_waypoints: plan.waypoints.len(), + path_samples: plan.path.len(), + path_cost_rad: plan.cost, + }); + } + } + + if let Some((seed, trajectory)) = canonical_trajectory { + for controller in CONTROLLERS { + tracking.push(run_tracking_case( + scene, + query, + seed, + controller, + &model, + &chain, + &trajectory, + )); + } + } + } + + queries.extend(scene_queries); + } + + validate_layout(&queries, &planning, &tracking); + let canonical_successes = canonical_plans(&planning) + .filter(|row| row.status == PlanStatus::Success) + .count(); + println!( + "summary: {}/{} canonical plans succeeded; {} tracking cases executed", + canonical_successes, + queries.len(), + tracking.len() + ); + + match mode { + Mode::Run => {} + Mode::Write => write_artifacts(&queries, &planning, &tracking), + Mode::Check => check_artifacts(&queries, &planning, &tracking), + } +} + +fn load_model(scene: Scene) -> MjModel { + let path = format!("{ASSET_DIR}{}", scene.file); + MjModel::from_xml(&path).unwrap_or_else(|error| panic!("load {}: {error}", scene.file)) +} + +fn extract_chain(model: &MjModel) -> Chain { + Chain::from_mujoco(model, "ur5e", "wrist_3_link", "attachment_site") + .expect("extract UR5e chain") +} + +fn sample_queries( + scene_index: usize, + scene: Scene, + model: &MjModel, + chain: &Chain, +) -> Vec { + let generator_seed = QUERY_SEED_BASE + scene_index as u64; + let mut rng = Rng::new(generator_seed); + let mut collision = CollisionChecker::new(model, chain); + let mut queries = Vec::with_capacity(QUERIES_PER_SCENE); + let mut rejected_start_collision = 0usize; + let mut rejected_goal_collision = 0usize; + let mut rejected_short = 0usize; + + for draw_index in 1..=MAX_DRAWS_PER_SCENE { + let start = chain.sample_uniform(&mut rng); + let goal = chain.sample_uniform(&mut rng); + if collision.collides(&start) { + rejected_start_collision += 1; + continue; + } + if collision.collides(&goal) { + rejected_goal_collision += 1; + continue; + } + let distance_rad = l2(&start, &goal); + if distance_rad < MIN_QUERY_DISTANCE_RAD { + rejected_short += 1; + continue; + } + + let mut scratch = vec![0.0; chain.dof()]; + let direct_free = edge_free( + &start, + &goal, + PlanConfig::default().resolution, + &mut |q| collision.collides(q), + &mut scratch, + ); + queries.push(QueryRow { + scene_index, + scene: scene.name, + scene_file: scene.file, + query_index: queries.len(), + generator_seed, + accepted_draw_index: draw_index, + rejected_start_collision, + rejected_goal_collision, + rejected_short, + start, + goal, + distance_rad, + direct_free, + }); + if queries.len() == QUERIES_PER_SCENE { + break; + } + } + + assert_eq!( + queries.len(), + QUERIES_PER_SCENE, + "{} did not produce the frozen query cohort within {} draws", + scene.name, + MAX_DRAWS_PER_SCENE + ); + queries +} + +fn planner_seed(scene_index: usize, query_index: usize, replicate: usize) -> u64 { + PLANNER_SEED_BASE + 10_000 * scene_index as u64 + 10 * query_index as u64 + replicate as u64 +} + +fn canonical_plans(planning: &[PlanningRow]) -> impl Iterator { + planning + .iter() + .filter(|row| row.variant == PlannerVariant::Default && row.replicate == 0) +} + +fn validate_layout(queries: &[QueryRow], planning: &[PlanningRow], tracking: &[TrackingRow]) { + assert_eq!(queries.len(), SCENES.len() * QUERIES_PER_SCENE); + for (scene_index, scene) in SCENES.iter().enumerate() { + assert_eq!( + queries + .iter() + .filter(|query| query.scene_index == scene_index) + .count(), + QUERIES_PER_SCENE, + "{} query cohort size", + scene.name + ); + } + + let expected_planning_rows: usize = queries + .iter() + .map(|query| { + if query.direct_free { + 1 + } else { + 2 * BLOCKED_REPLICATES + } + }) + .sum(); + assert_eq!(planning.len(), expected_planning_rows); + for query in queries { + let rows: Vec<_> = planning + .iter() + .filter(|row| row.scene == query.scene && row.query_index == query.query_index) + .collect(); + assert_eq!( + rows.len(), + if query.direct_free { + 1 + } else { + 2 * BLOCKED_REPLICATES + }, + "{}/{} planner row count", + query.scene, + query.query_index + ); + assert_eq!( + rows.iter() + .filter(|row| { row.variant == PlannerVariant::Default && row.replicate == 0 }) + .count(), + 1, + "{}/{} canonical row count", + query.scene, + query.query_index + ); + } + + let canonical_successes = canonical_plans(planning) + .filter(|row| row.status == PlanStatus::Success) + .count(); + assert_eq!(tracking.len(), 2 * canonical_successes); +} + +#[allow(clippy::too_many_arguments)] +fn run_tracking_case( + scene: Scene, + query: &QueryRow, + seed: u64, + controller: Controller, + model: &MjModel, + chain: &Chain, + trajectory: &Trajectory, +) -> TrackingRow { + let mut data = MjData::new(model); + let q_start = trajectory.q.first().expect("trajectory start"); + for (&address, &value) in chain.qpos_addresses().iter().zip(q_start) { + data.qpos_mut()[address] = value; + } + for address in chain.dof_addresses() { + data.qvel_mut()[address] = 0.0; + } + data.forward(); + + let zero = vec![0.0; chain.dof()]; + let mut collision_checker = CollisionChecker::new(model, chain); + collision_checker.contact_threshold = EXECUTION_CONTACT_THRESHOLD_M; + let mut settle_penetration = PenetrationMetrics::default(); + let mut path_penetration = PenetrationMetrics::default(); + let mut hold_penetration = PenetrationMetrics::default(); + + for _ in 0..SETTLE_STEPS { + control_step(controller, &mut data, q_start, &zero); + settle_penetration.observe(&mut collision_checker, &read_q(&data, chain)); + } + + let mut sum_sq = 0.0; + let mut max_joint = 0.0f64; + let mut max_ee = 0.0f64; + let mut peak_force_fraction = 0.0f64; + let mut saturated_steps = 0usize; + for (q_des, qd_des) in trajectory.q.iter().zip(&trajectory.qd) { + control_step(controller, &mut data, q_des, qd_des); + let q_measured = read_q(&data, chain); + path_penetration.observe(&mut collision_checker, &q_measured); + let error = l2(&q_measured, q_des); + sum_sq += error * error; + max_joint = max_joint.max(error); + let ee_error = (arm_lab::kinematics::fk(chain, &q_measured) + .translation + .vector + - arm_lab::kinematics::fk(chain, q_des).translation.vector) + .norm(); + max_ee = max_ee.max(ee_error); + let force_fraction = force_fraction(model, &data); + peak_force_fraction = peak_force_fraction.max(force_fraction); + saturated_steps += usize::from(force_fraction >= 0.999); + } + + let q_goal = trajectory.q.last().expect("trajectory goal"); + for _ in 0..HOLD_STEPS { + control_step(controller, &mut data, q_goal, &zero); + hold_penetration.observe(&mut collision_checker, &read_q(&data, chain)); + } + + let rms_joint = (sum_sq / trajectory.len() as f64).sqrt(); + let final_joint = l2(&read_q(&data, chain), q_goal); + let penetration_steps = + settle_penetration.steps + path_penetration.steps + hold_penetration.steps; + let numeric_pass = numeric_gates_pass(rms_joint, max_joint, final_joint); + let max_penetration_m = settle_penetration + .max_penetration_m + .max(path_penetration.max_penetration_m) + .max(hold_penetration.max_penetration_m); + let worst_contact = [&settle_penetration, &path_penetration, &hold_penetration] + .into_iter() + .max_by(|left, right| left.max_penetration_m.total_cmp(&right.max_penetration_m)) + .and_then(|metrics| metrics.worst_contact.clone()); + + TrackingRow { + scene: scene.name, + scene_file: scene.file, + query_index: query.query_index, + seed, + direct_free: query.direct_free, + controller, + trajectory_samples: trajectory.len(), + trajectory_duration_s: trajectory.duration, + rms_joint_rad: rms_joint, + max_joint_rad: max_joint, + final_joint_rad: final_joint, + max_ee_pos_m: max_ee, + peak_force_fraction, + saturated_step_fraction: saturated_steps as f64 / trajectory.len() as f64, + settle_penetration_steps: settle_penetration.steps, + path_penetration_steps: path_penetration.steps, + hold_penetration_steps: hold_penetration.steps, + max_penetration_m, + worst_contact, + numeric_pass, + full_pass: full_gates_pass(rms_joint, max_joint, final_joint, penetration_steps), + } +} + +fn control_step( + controller: Controller, + data: &mut MjData<&MjModel>, + q_des: &[f64], + qd_des: &[f64], +) { + let mut ctrl = q_des.to_vec(); + if controller.velocity_ff() { + for (command, velocity) in ctrl.iter_mut().zip(qd_des) { + *command += KV_OVER_KP * velocity; + } + } + set_ctrl(data, &ACTUATORS, &ctrl); + data.step(); +} + +fn force_fraction(model: &MjModel, data: &MjData<&MjModel>) -> f64 { + data.actuator_force() + .iter() + .zip(model.actuator_forcerange()) + .map(|(&force, range)| { + let limit = range[0].abs().max(range[1].abs()); + if limit > 0.0 { + force.abs() / limit + } else { + 0.0 + } + }) + .fold(0.0, f64::max) +} + +fn numeric_gates_pass(rms: f64, max: f64, final_error: f64) -> bool { + rms <= PASS_RMS_RAD && max <= PASS_MAX_RAD && final_error <= PASS_FINAL_RAD +} + +fn full_gates_pass(rms: f64, max: f64, final_error: f64, penetration_steps: usize) -> bool { + numeric_gates_pass(rms, max, final_error) && penetration_steps == 0 +} + +fn l2(a: &[f64], b: &[f64]) -> f64 { + a.iter() + .zip(b) + .map(|(left, right)| (left - right).powi(2)) + .sum::() + .sqrt() +} + +fn status_name(status: PlanStatus) -> &'static str { + match status { + PlanStatus::Success => "success", + PlanStatus::StartCollision => "start_collision", + PlanStatus::GoalCollision => "goal_collision", + PlanStatus::Unconnected => "unconnected", + } +} + +fn format_joint_vector(q: &[f64]) -> String { + q.iter() + .map(|value| format!("{value:.8}")) + .collect::>() + .join(";") +} + +fn wilson_interval(successes: usize, total: usize) -> (f64, f64) { + assert!(total > 0, "Wilson interval needs a non-empty sample"); + let n = total as f64; + let p = successes as f64 / n; + let z = 1.959_963_984_540_054; + let z2 = z * z; + let denominator = 1.0 + z2 / n; + let center = (p + z2 / (2.0 * n)) / denominator; + let half = z * ((p * (1.0 - p) + z2 / (4.0 * n)) / n).sqrt() / denominator; + ((center - half).max(0.0), (center + half).min(1.0)) +} + +fn format_rate(successes: usize, total: usize) -> String { + if total == 0 { + return "0/0 (not evaluated)".to_string(); + } + let (lower, upper) = wilson_interval(successes, total); + format!( + "{successes}/{total} ({:.1}%; 95% Wilson {:.1}--{:.1}%)", + 100.0 * successes as f64 / total as f64, + 100.0 * lower, + 100.0 * upper + ) +} + +struct Artifacts { + queries_csv: String, + planning_csv: String, + tracking_csv: String, + report: String, +} + +fn render_artifacts( + queries: &[QueryRow], + planning: &[PlanningRow], + tracking: &[TrackingRow], +) -> Artifacts { + let mut queries_csv = String::from( + "scene,scene_file,query_index,generator_seed,accepted_draw_index,cumulative_rejected_start_collision,cumulative_rejected_goal_collision,cumulative_rejected_short,start_q_rad,goal_q_rad,distance_rad,direct_path_free\n", + ); + for row in queries { + writeln!( + queries_csv, + "{},{},{},{},{},{},{},{},{},{},{:.8},{}", + row.scene, + row.scene_file, + row.query_index, + row.generator_seed, + row.accepted_draw_index, + row.rejected_start_collision, + row.rejected_goal_collision, + row.rejected_short, + format_joint_vector(&row.start), + format_joint_vector(&row.goal), + row.distance_rad, + row.direct_free + ) + .expect("format query CSV"); + } + + let mut planning_csv = String::from( + "scene,scene_file,query_index,variant,replicate,seed,direct_path_free,status,plan_elapsed_ms,iterations,nodes,shortcut_waypoints,path_samples,path_cost_rad\n", + ); + for row in planning { + writeln!( + planning_csv, + "{},{},{},{},{},{},{},{},{:.8},{},{},{},{},{:.8}", + row.scene, + row.scene_file, + row.query_index, + row.variant.name(), + row.replicate, + row.seed, + row.direct_free, + status_name(row.status), + row.elapsed_ms, + row.iterations, + row.nodes, + row.shortcut_waypoints, + row.path_samples, + row.path_cost_rad + ) + .expect("format planning CSV"); + } + + let mut tracking_csv = String::from( + "scene,scene_file,query_index,seed,direct_path_free,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,path_penetration_steps,hold_penetration_steps,max_penetration_m,worst_contact,numeric_pass,full_pass\n", + ); + for row in tracking { + writeln!( + tracking_csv, + "{},{},{},{},{},{},{},{:.8},{:.8},{:.8},{:.8},{:.8},{:.8},{:.8},{},{},{},{:.8},{},{},{}", + row.scene, + row.scene_file, + row.query_index, + row.seed, + row.direct_free, + row.controller.name(), + row.trajectory_samples, + row.trajectory_duration_s, + row.rms_joint_rad, + row.max_joint_rad, + row.final_joint_rad, + row.max_ee_pos_m, + row.peak_force_fraction, + row.saturated_step_fraction, + row.settle_penetration_steps, + row.path_penetration_steps, + row.hold_penetration_steps, + row.max_penetration_m, + row.worst_contact.as_deref().unwrap_or(""), + row.numeric_pass, + row.full_pass + ) + .expect("format tracking CSV"); + } + + let report = render_report(queries, planning, tracking); + Artifacts { + queries_csv, + planning_csv, + tracking_csv, + report, + } +} + +fn render_report( + queries: &[QueryRow], + planning: &[PlanningRow], + tracking: &[TrackingRow], +) -> String { + let mut report = String::from( + "# Randomized UR5e planning and nominal tracking evaluation (simulation)\n\n\ + This result follows the predeclared `docs/randomized_eval_protocol.md`. It retains the first 100 accepted independently sampled joint-space queries in each of three shipped scenes, without filtering on direct-path or planner outcome. **This is deterministic simulation evidence, not hardware validation, a workspace-uniform task distribution, continuous safety, or sim-to-real evidence.**\n\n", + ); + + report.push_str("## Query sampling and canonical planning\n\n"); + report.push_str( + "| Scene | Accepted draw | Endpoint/short rejections | Direct baseline | Canonical default RRT | Blocked recovered |\n|---|---:|---:|---:|---:|---:|\n", + ); + for (scene_index, scene) in SCENES.iter().copied().enumerate() { + let scene_queries: Vec<_> = queries + .iter() + .filter(|row| row.scene_index == scene_index) + .collect(); + let final_query = scene_queries.last().expect("scene query cohort"); + let direct = scene_queries.iter().filter(|row| row.direct_free).count(); + let canonical: Vec<_> = canonical_plans(planning) + .filter(|row| row.scene == scene.name) + .collect(); + let solved = canonical + .iter() + .filter(|row| row.status == PlanStatus::Success) + .count(); + let recovered = canonical + .iter() + .filter(|row| !row.direct_free && row.status == PlanStatus::Success) + .count(); + writeln!( + report, + "| {} | {} | {}/{}/{} | {} | {} | {}/{} |", + scene.name, + final_query.accepted_draw_index, + final_query.rejected_start_collision, + final_query.rejected_goal_collision, + final_query.rejected_short, + format_rate(direct, scene_queries.len()), + format_rate(solved, canonical.len()), + recovered, + scene_queries.len() - direct + ) + .expect("format scene summary"); + } + + let pooled_direct = queries.iter().filter(|row| row.direct_free).count(); + let canonical: Vec<_> = canonical_plans(planning).collect(); + let pooled_solved = canonical + .iter() + .filter(|row| row.status == PlanStatus::Success) + .count(); + let pooled_recovered = canonical + .iter() + .filter(|row| !row.direct_free && row.status == PlanStatus::Success) + .count(); + writeln!( + report, + "\nEqual-scene pooled direct baseline: **{}**. Canonical default RRT: **{}**. It recovers **{}/{}** blocked-direct queries.\n", + format_rate(pooled_direct, queries.len()), + format_rate(pooled_solved, canonical.len()), + pooled_recovered, + queries.len() - pooled_direct + ) + .expect("format pooled planning"); + + report.push_str("## Blocked-query goal-bias ablation\n\n"); + let blocked_queries: Vec<_> = queries.iter().filter(|row| !row.direct_free).collect(); + for variant in [PlannerVariant::Default, PlannerVariant::ZeroGoalBias] { + let rows: Vec<_> = planning + .iter() + .filter(|row| !row.direct_free && row.variant == variant) + .collect(); + let successes = rows + .iter() + .filter(|row| row.status == PlanStatus::Success) + .count(); + let mut histogram = [0usize; BLOCKED_REPLICATES + 1]; + for query in &blocked_queries { + let count = rows + .iter() + .filter(|row| { + row.scene == query.scene + && row.query_index == query.query_index + && row.status == PlanStatus::Success + }) + .count(); + histogram[count] += 1; + } + writeln!( + report, + "- `{}`: {}/{} successful planner trials. Per-query success histogram (0/5 through 5/5): {:?}.", + variant.name(), + successes, + rows.len(), + histogram + ) + .expect("format ablation"); + } + report.push_str( + "\nRepeated planner trials probe algorithmic seed sensitivity on the same blocked queries; they are not independent task samples and receive no Wilson interval.\n\n", + ); + + report.push_str("## Nominal tracking\n\n"); + report.push_str( + "Tracking is replayed only when the canonical default plan succeeds. Both controllers receive each identical successful trajectory.\n\n| Controller | Replays | Numeric gates | Full zero-penetration gate |\n|---|---:|---:|---:|\n", + ); + for controller in CONTROLLERS { + let rows: Vec<_> = tracking + .iter() + .filter(|row| row.controller == controller) + .collect(); + let numeric = rows.iter().filter(|row| row.numeric_pass).count(); + let full = rows.iter().filter(|row| row.full_pass).count(); + writeln!( + report, + "| {} | {} | {} | {} |", + controller.name(), + rows.len(), + format_rate(numeric, rows.len()), + format_rate(full, rows.len()) + ) + .expect("format tracking summary"); + } + + let mut ff_only = 0usize; + let mut pd_only = 0usize; + for position in tracking + .iter() + .filter(|row| row.controller == Controller::Position) + { + let velocity = tracking + .iter() + .find(|row| { + row.scene == position.scene + && row.query_index == position.query_index + && row.controller == Controller::VelocityFf + }) + .expect("paired velocity-FF tracking row"); + ff_only += usize::from(velocity.full_pass && !position.full_pass); + pd_only += usize::from(position.full_pass && !velocity.full_pass); + } + let penetration_cases = tracking + .iter() + .filter(|row| { + row.settle_penetration_steps + row.path_penetration_steps + row.hold_penetration_steps + > 0 + }) + .count(); + let max_penetration = tracking + .iter() + .map(|row| row.max_penetration_m) + .fold(0.0f64, f64::max); + writeln!( + report, + "\nPaired full-gate discordance: **{ff_only} FF-pass/PD-fail** trajectories and **{pd_only} PD-pass/FF-fail** trajectories. Canonical planning failures with no replay: **{}**. Sampled execution penetration occurs in **{penetration_cases}/{}** tracking cases; maximum depth is **{max_penetration:.8} m**.\n", + queries.len() - pooled_solved, + tracking.len() + ) + .expect("format paired tracking"); + + report.push_str( + "## Scope and limitations\n\n\ + - The accepted pairs are uniform in compiled joint limits conditional on two collision-free endpoints and at least 0.75-rad separation. They are not uniform in Cartesian workspace or representative of a deployment task distribution.\n\ + - Wilson intervals describe repeated draws from this declared conditional generator only. The generator, scenes, and robot model remain fixed.\n\ + - Direct and RRT collision checks sample joint-space edges at 0.05-rad L2 spacing and use the existing MuJoCo emitted-contact predicate. They do not certify continuous collision avoidance or positive clearance.\n\ + - Tracking uses one canonical successful path per accepted query, the nominal plant only, and sampled `dist < 0` execution checks at 2-ms states. Planning failures receive no tracking replay and remain visible in the denominator.\n\ + - The goal-bias comparison changes one planner field; it is an ablation, not a comparison with an independent planning implementation.\n\ + - There is no randomized plant uncertainty, sensing, localization, grasping, payload, hardware, or sim-to-real evidence in this extension.\n\n\ + ## Reproduce\n\n\ + ```bash\n\ + cargo run --release -p arm-lab-demo --bin randomized_eval -- --write\n\ + cargo run --release -p arm-lab-demo --bin randomized_eval -- --check\n\ + ```\n\n\ + Raw artifacts retain all 300 accepted queries, every canonical and blocked-query replicate plan, and both controller replays for every successful canonical path. `plan_elapsed_ms` is observational wall time and the only field normalized by `--check`.\n", + ); + report +} + +fn docs_dir() -> std::path::PathBuf { + Path::new(env!("CARGO_MANIFEST_DIR")).join("../../docs") +} + +fn write_artifacts(queries: &[QueryRow], planning: &[PlanningRow], tracking: &[TrackingRow]) { + let artifacts = render_artifacts(queries, planning, tracking); + let docs = docs_dir(); + std::fs::write( + docs.join("randomized_eval_queries.csv"), + artifacts.queries_csv, + ) + .expect("write randomized query CSV"); + std::fs::write( + docs.join("randomized_eval_planning.csv"), + artifacts.planning_csv, + ) + .expect("write randomized planning CSV"); + std::fs::write( + docs.join("randomized_eval_tracking.csv"), + artifacts.tracking_csv, + ) + .expect("write randomized tracking CSV"); + std::fs::write(docs.join("randomized_eval_results.md"), artifacts.report) + .expect("write randomized Markdown report"); + println!("wrote randomized evaluation query, planning, tracking, and report artifacts"); +} + +fn check_artifacts(queries: &[QueryRow], planning: &[PlanningRow], tracking: &[TrackingRow]) { + let generated = render_artifacts(queries, planning, tracking); + let docs = docs_dir(); + let committed_queries = std::fs::read_to_string(docs.join("randomized_eval_queries.csv")) + .expect("read randomized query CSV"); + let committed_planning = std::fs::read_to_string(docs.join("randomized_eval_planning.csv")) + .expect("read randomized planning CSV"); + let committed_tracking = std::fs::read_to_string(docs.join("randomized_eval_tracking.csv")) + .expect("read randomized tracking CSV"); + let committed_report = std::fs::read_to_string(docs.join("randomized_eval_results.md")) + .expect("read randomized Markdown report"); + assert_artifact_equal("query CSV", &generated.queries_csv, &committed_queries); + assert_artifact_equal( + "planning CSV deterministic fields", + &normalize_planning_elapsed(&generated.planning_csv), + &normalize_planning_elapsed(&committed_planning), + ); + assert_artifact_equal("tracking CSV", &generated.tracking_csv, &committed_tracking); + assert_artifact_equal("Markdown report", &generated.report, &committed_report); + println!("randomized artifact check passed; only plan_elapsed_ms was normalized"); +} + +fn normalize_planning_elapsed(csv: &str) -> String { + let mut lines = csv.lines(); + let header = lines.next().expect("planning CSV header"); + let columns: Vec<_> = header.split(',').collect(); + let elapsed_index = columns + .iter() + .position(|column| *column == "plan_elapsed_ms") + .expect("plan_elapsed_ms column"); + let mut normalized = format!("{header}\n"); + for line in lines { + let mut fields: Vec<_> = line.split(',').collect(); + assert_eq!(fields.len(), columns.len(), "planning CSV column count"); + fields[elapsed_index] = ""; + writeln!(normalized, "{}", fields.join(",")).expect("normalize planning row"); + } + normalized +} + +fn assert_artifact_equal(label: &str, generated: &str, committed: &str) { + if generated == committed { + return; + } + let mismatch = generated + .lines() + .zip(committed.lines()) + .position(|(left, right)| left != right) + .map_or_else( + || generated.lines().count().min(committed.lines().count()) + 1, + |index| index + 1, + ); + panic!("stale {label}: first mismatch at line {mismatch}"); +} + +#[cfg(test)] +mod tests { + use super::*; + + #[test] + fn frozen_cohort_layout_is_three_by_one_hundred() { + assert_eq!(SCENES.len(), 3); + assert_eq!(QUERIES_PER_SCENE, 100); + assert_eq!(BLOCKED_REPLICATES, 5); + } + + #[test] + fn planner_seeds_have_disjoint_scene_and_query_ranges() { + assert_eq!(planner_seed(0, 0, 0), 202_608_180_000); + assert_eq!(planner_seed(0, 99, 4), 202_608_180_994); + assert_eq!(planner_seed(1, 0, 0), 202_608_190_000); + assert_eq!(planner_seed(2, 99, 4), 202_608_200_994); + } + + #[test] + fn wilson_interval_matches_known_half_sample() { + let (lower, upper) = wilson_interval(50, 100); + assert!((lower - 0.403_831_53).abs() < 1e-8); + assert!((upper - 0.596_168_47).abs() < 1e-8); + } + + #[test] + fn numeric_and_penetration_gates_remain_separate() { + assert!(numeric_gates_pass(0.01, 0.02, 0.01)); + assert!(!numeric_gates_pass(0.031, 0.02, 0.01)); + assert!(full_gates_pass(0.01, 0.02, 0.01, 0)); + assert!(!full_gates_pass(0.01, 0.02, 0.01, 1)); + assert_eq!(EXECUTION_CONTACT_THRESHOLD_M, 0.0); + } + + #[test] + fn empty_rate_is_reported_without_hiding_a_failed_evaluation() { + assert_eq!(format_rate(0, 0), "0/0 (not evaluated)"); + } + + #[test] + fn planning_normalizer_ignores_only_wall_clock() { + let header = "scene,plan_elapsed_ms,status\n"; + let baseline = format!("{header}open,1.25,success\n"); + let timing = format!("{header}open,99.0,success\n"); + let outcome = format!("{header}open,1.25,unconnected\n"); + assert_eq!( + normalize_planning_elapsed(&baseline), + normalize_planning_elapsed(&timing) + ); + assert_ne!( + normalize_planning_elapsed(&baseline), + normalize_planning_elapsed(&outcome) + ); + } + + #[test] + #[should_panic(expected = "stale query CSV")] + fn artifact_comparison_rejects_stale_content() { + assert_artifact_equal("query CSV", "expected\n", "stale\n"); + } +} From cf7aa9530b137490f8c5b38cd9fd2fe99cc23681 Mon Sep 17 00:00:00 2001 From: Dylan Gallagher <76841713+Dylan-Gallagher@users.noreply.github.com> Date: Mon, 17 Aug 2026 12:40:27 +0100 Subject: [PATCH 3/3] Publish randomized planning evaluation evidence Retain all 300 predeclared queries, 2,253 planner outcomes, and 276 nominal controller replays, including every unconnected and sampled-penetration result. Add generated aggregate reporting and exact artifact verification without changing planner or controller behavior. Signed-off-by: Dylan Gallagher <76841713+Dylan-Gallagher@users.noreply.github.com> --- README.md | 13 +- .../arm-lab-demo/src/bin/randomized_eval.rs | 97 + docs/randomized_eval_planning.csv | 2254 +++++++++++++++++ docs/randomized_eval_queries.csv | 301 +++ docs/randomized_eval_results.md | 68 + docs/randomized_eval_tracking.csv | 277 ++ 6 files changed, 3009 insertions(+), 1 deletion(-) create mode 100644 docs/randomized_eval_planning.csv create mode 100644 docs/randomized_eval_queries.csv create mode 100644 docs/randomized_eval_results.md create mode 100644 docs/randomized_eval_tracking.csv diff --git a/README.md b/README.md index c3f71c4..42cfad2 100644 --- a/README.md +++ b/README.md @@ -4,7 +4,7 @@ A serial-chain manipulator stack written **from scratch in Rust** — no ROS, no MoveIt, no kinematics library, no off-the-shelf planner. -**Evidence index (simulation; sampled where collision claims are involved; no hardware validation):** [multi-scene report](docs/multi_query_results.md) · [planning CSV](docs/multi_query_planning.csv) · [tracking CSV](docs/multi_query_tracking.csv) · attached payload [protocol](docs/attached_payload_protocol.md) / [results](docs/attached_payload_results.md) · [robustness report](docs/robustness_results.md) · [main CI](https://github.com/Dylan-Gallagher/arm-lab/actions/workflows/ci.yml?query=branch%3Amain) · [citation](CITATION.cff) +**Evidence index (simulation; sampled where collision claims are involved; no hardware validation):** randomized evaluation [protocol](docs/randomized_eval_protocol.md) / [report](docs/randomized_eval_results.md) / [queries](docs/randomized_eval_queries.csv) / [planning](docs/randomized_eval_planning.csv) / [tracking](docs/randomized_eval_tracking.csv) · [multi-scene report](docs/multi_query_results.md) · [planning CSV](docs/multi_query_planning.csv) · [tracking CSV](docs/multi_query_tracking.csv) · attached payload [protocol](docs/attached_payload_protocol.md) / [results](docs/attached_payload_results.md) · [robustness report](docs/robustness_results.md) · [main CI](https://github.com/Dylan-Gallagher/arm-lab/actions/workflows/ci.yml?query=branch%3Amain) · [citation](CITATION.cff) ![Demo 3 — UR5e pick-and-place around a pillar. IK, RRT-Connect, scalar S-curve time law, PD + velocity feedforward](docs/demo3.gif) @@ -52,6 +52,12 @@ The [pre-result protocol](docs/attached_payload_protocol.md) and [result/limitat Position PD meets the numeric gates in **0/18** tracking cases. Desired-velocity feedforward meets the numeric gates in **14/18** cases and passes the full zero-penetration gate in **13/18**. The four sampled-penetration cases are all the retained `reverse_cross_workspace` negative: 25--72 path steps depending on plant/controller, with 0.050--0.079 mm maximum actual penetration; settling and hold remain penetration-free. The generated [report](docs/multi_query_results.md), [45-row planning CSV](docs/multi_query_planning.csv), and [36-row tracking CSV](docs/multi_query_tracking.csv) retain every outcome and include exact joint vectors, seeds, trajectory metrics, per-phase penetration counts/depths and contact identities, pass criteria, and claim boundaries. The fixtures are hand-designed and deterministic, not a sampled task distribution; the results do not estimate hardware or workspace-wide success probability. +## Predeclared randomized extension (simulation) + +`randomized_eval` follows a [protocol committed before the evaluator and result-bearing runs](https://github.com/Dylan-Gallagher/arm-lab/commit/4320e40b6bf701d56e8e518597a9b0626d0205ec). It retains the first 100 accepted joint-space query pairs from a frozen generator in each of the three scenes (300 total), conditional only on collision-free endpoints and at least 0.75 rad separation. It does not select on direct-path or planner outcome. Only **83/300** queries have a sampled-clear straight interpolant. The unchanged canonical RRT-Connect configuration solves **138/300** (46.0%, 95% Wilson 40.4--51.7%) and recovers 55 of 217 blocked-direct pairs; all 162 unconnected outcomes remain in the raw artifacts. Five paired seeds on every blocked query produce 271/1,085 successes with the default 0.05 goal bias and 270/1,085 with goal bias removed, showing no material aggregate gain from that field in this frozen sample. + +Both nominal controllers replay every successful canonical trajectory. Position PD meets the numeric gates in **0/138** cases. Velocity feedforward meets them in **104/138** (75.4%, 95% Wilson 67.6--81.8%) and passes the added zero-sampled-penetration gate in **90/138** (65.2%, 95% Wilson 57.0--72.7%). Thirty-seven of 276 controller replays contain sampled penetration, with 3.2225 mm maximum depth; these failures are retained rather than hidden. See the pre-result [protocol](docs/randomized_eval_protocol.md), generated [report](docs/randomized_eval_results.md), and complete [query](docs/randomized_eval_queries.csv), [planning](docs/randomized_eval_planning.csv), and [tracking](docs/randomized_eval_tracking.csv) CSVs. The generator is uniform in compiled joint limits under the stated conditions, not uniform in Cartesian workspace or representative of real tasks; collision checks remain discrete and all evidence is simulation-only. + ## Layout ``` @@ -95,6 +101,10 @@ cargo run --release -p arm-lab-demo --bin multi_query_bench -- --write # rerun the bounded matrix and verify deterministic committed fields/outcomes cargo run --release -p arm-lab-demo --bin multi_query_bench -- --check + +# predeclared 300-query randomized evaluation; write or verify all raw outcomes +cargo run --release -p arm-lab-demo --bin randomized_eval -- --write +cargo run --release -p arm-lab-demo --bin randomized_eval -- --check ``` Requirements: Rust stable, a C++ toolchain, and (for `--render`) `ffmpeg` on PATH. On Linux without system MuJoCo, `mujoco-rs` auto-downloads MuJoCo 3.9 at build time. Set `MUJOCO_DOWNLOAD_DIR` to an absolute directory before building and add its downloaded `lib/` directory to `LD_LIBRARY_PATH` before running; see the [mujoco-rs docs](https://github.com/davidhozic/mujoco-rs). @@ -120,6 +130,7 @@ Requirements: Rust stable, a C++ toolchain, and (for `--render`) `ffmpeg` on PAT - [x] Reproducible controller robustness matrix with raw CSV and explicit sim-only limits - [x] Multi-scene, multi-query planning and tracking extension with raw CSVs - [x] Pair-scoped attached-cube collision proxy for Demo 3 carry +- [x] Predeclared 300-query randomized planning and nominal-tracking evaluation ## License & assets diff --git a/crates/arm-lab-demo/src/bin/randomized_eval.rs b/crates/arm-lab-demo/src/bin/randomized_eval.rs index a09ff1f..8ae54ff 100644 --- a/crates/arm-lab-demo/src/bin/randomized_eval.rs +++ b/crates/arm-lab-demo/src/bin/randomized_eval.rs @@ -829,9 +829,61 @@ fn render_report( queries.len() - pooled_direct ) .expect("format pooled planning"); + let canonical_unconnected = canonical + .iter() + .filter(|row| row.status == PlanStatus::Unconnected) + .count(); + writeln!( + report, + "All 300 endpoint pairs pass the frozen endpoint predicate by construction. Canonical outcomes retain **{pooled_solved} success** and **{canonical_unconnected} unconnected** statuses; no failed query is removed.\n" + ) + .expect("format canonical statuses"); report.push_str("## Blocked-query goal-bias ablation\n\n"); let blocked_queries: Vec<_> = queries.iter().filter(|row| !row.direct_free).collect(); + report.push_str( + "| Scene | Blocked queries | Default successes | Zero-goal-bias successes |\n|---|---:|---:|---:|\n", + ); + for scene in SCENES { + let scene_blocked = blocked_queries + .iter() + .filter(|query| query.scene == scene.name) + .count(); + let default_rows: Vec<_> = planning + .iter() + .filter(|row| { + row.scene == scene.name + && !row.direct_free + && row.variant == PlannerVariant::Default + }) + .collect(); + let zero_rows: Vec<_> = planning + .iter() + .filter(|row| { + row.scene == scene.name + && !row.direct_free + && row.variant == PlannerVariant::ZeroGoalBias + }) + .collect(); + writeln!( + report, + "| {} | {} | {}/{} | {}/{} |", + scene.name, + scene_blocked, + default_rows + .iter() + .filter(|row| row.status == PlanStatus::Success) + .count(), + default_rows.len(), + zero_rows + .iter() + .filter(|row| row.status == PlanStatus::Success) + .count(), + zero_rows.len() + ) + .expect("format scene ablation"); + } + report.push('\n'); for variant in [PlannerVariant::Default, PlannerVariant::ZeroGoalBias] { let rows: Vec<_> = planning .iter() @@ -888,6 +940,51 @@ fn render_report( ) .expect("format tracking summary"); } + report.push_str( + "\n### Scene and sampled-penetration breakdown\n\n| Scene | Controller | Replays | Numeric | Full | Penetration cases | Steps S/P/H | Max penetration (m) |\n|---|---|---:|---:|---:|---:|---:|---:|\n", + ); + for scene in SCENES { + for controller in CONTROLLERS { + let rows: Vec<_> = tracking + .iter() + .filter(|row| row.scene == scene.name && row.controller == controller) + .collect(); + let penetration_cases = rows + .iter() + .filter(|row| { + row.settle_penetration_steps + + row.path_penetration_steps + + row.hold_penetration_steps + > 0 + }) + .count(); + let settle_steps: usize = rows.iter().map(|row| row.settle_penetration_steps).sum(); + let path_steps: usize = rows.iter().map(|row| row.path_penetration_steps).sum(); + let hold_steps: usize = rows.iter().map(|row| row.hold_penetration_steps).sum(); + let max_penetration = rows + .iter() + .map(|row| row.max_penetration_m) + .fold(0.0f64, f64::max); + writeln!( + report, + "| {} | {} | {} | {}/{} | {}/{} | {}/{} | {}/{}/{} | {:.8} |", + scene.name, + controller.name(), + rows.len(), + rows.iter().filter(|row| row.numeric_pass).count(), + rows.len(), + rows.iter().filter(|row| row.full_pass).count(), + rows.len(), + penetration_cases, + rows.len(), + settle_steps, + path_steps, + hold_steps, + max_penetration + ) + .expect("format scene tracking breakdown"); + } + } let mut ff_only = 0usize; let mut pd_only = 0usize; diff --git a/docs/randomized_eval_planning.csv b/docs/randomized_eval_planning.csv new 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+tabletop_pillar,scene_pickplace.xml,99,202608170102,997,689,208,0,-5.34803646;5.55499113;-1.30358114;-2.36341358;-1.56659838;-3.74866778,-3.13960127;-1.93079118;0.83411376;-1.55030254;1.02190285;4.54754964,11.90262887,false diff --git a/docs/randomized_eval_results.md b/docs/randomized_eval_results.md new file mode 100644 index 0000000..ed0aeee --- /dev/null +++ b/docs/randomized_eval_results.md @@ -0,0 +1,68 @@ +# Randomized UR5e planning and nominal tracking evaluation (simulation) + +This result follows the predeclared `docs/randomized_eval_protocol.md`. It retains the first 100 accepted independently sampled joint-space queries in each of three shipped scenes, without filtering on direct-path or planner outcome. **This is deterministic simulation evidence, not hardware validation, a workspace-uniform task distribution, continuous safety, or sim-to-real evidence.** + +## Query sampling and canonical planning + +| Scene | Accepted draw | Endpoint/short rejections | Direct baseline | Canonical default RRT | Blocked recovered | +|---|---:|---:|---:|---:|---:| +| open_floor | 597 | 367/130/0 | 33/100 (33.0%; 95% Wilson 24.6--42.7%) | 47/100 (47.0%; 95% Wilson 37.5--56.7%) | 14/67 | +| offset_pillar | 908 | 593/215/0 | 20/100 (20.0%; 95% Wilson 13.3--28.9%) | 46/100 (46.0%; 95% Wilson 36.6--55.7%) | 26/80 | +| tabletop_pillar | 997 | 689/208/0 | 30/100 (30.0%; 95% Wilson 21.9--39.6%) | 45/100 (45.0%; 95% Wilson 35.6--54.8%) | 15/70 | + +Equal-scene pooled direct baseline: **83/300 (27.7%; 95% Wilson 22.9--33.0%)**. Canonical default RRT: **138/300 (46.0%; 95% Wilson 40.4--51.7%)**. It recovers **55/217** blocked-direct queries. + +All 300 endpoint pairs pass the frozen endpoint predicate by construction. Canonical outcomes retain **138 success** and **162 unconnected** statuses; no failed query is removed. + +## Blocked-query goal-bias ablation + +| Scene | Blocked queries | Default successes | Zero-goal-bias successes | +|---|---:|---:|---:| +| open_floor | 67 | 67/335 | 69/335 | +| offset_pillar | 80 | 129/400 | 126/400 | +| tabletop_pillar | 70 | 75/350 | 75/350 | + +- `default`: 271/1085 successful planner trials. Per-query success histogram (0/5 through 5/5): [161, 1, 1, 1, 0, 53]. +- `zero_goal_bias`: 270/1085 successful planner trials. Per-query success histogram (0/5 through 5/5): [161, 1, 1, 1, 1, 52]. + +Repeated planner trials probe algorithmic seed sensitivity on the same blocked queries; they are not independent task samples and receive no Wilson interval. + +## Nominal tracking + +Tracking is replayed only when the canonical default plan succeeds. Both controllers receive each identical successful trajectory. + +| Controller | Replays | Numeric gates | Full zero-penetration gate | +|---|---:|---:|---:| +| position PD | 138 | 0/138 (0.0%; 95% Wilson 0.0--2.7%) | 0/138 (0.0%; 95% Wilson 0.0--2.7%) | +| PD + velocity FF | 138 | 104/138 (75.4%; 95% Wilson 67.6--81.8%) | 90/138 (65.2%; 95% Wilson 57.0--72.7%) | + +### Scene and sampled-penetration breakdown + +| Scene | Controller | Replays | Numeric | Full | Penetration cases | Steps S/P/H | Max penetration (m) | +|---|---|---:|---:|---:|---:|---:|---:| +| open_floor | position PD | 47 | 0/47 | 0/47 | 7/47 | 180/845/104 | 0.00019435 | +| open_floor | PD + velocity FF | 47 | 38/47 | 33/47 | 6/47 | 180/738/250 | 0.00210038 | +| offset_pillar | position PD | 46 | 0/46 | 0/46 | 7/46 | 345/584/250 | 0.00096913 | +| offset_pillar | PD + velocity FF | 46 | 35/46 | 30/46 | 7/46 | 345/565/250 | 0.00132360 | +| tabletop_pillar | position PD | 45 | 0/45 | 0/45 | 5/45 | 0/636/250 | 0.00322250 | +| tabletop_pillar | PD + velocity FF | 45 | 31/45 | 27/45 | 5/45 | 0/770/250 | 0.00322223 | + +Paired full-gate discordance: **90 FF-pass/PD-fail** trajectories and **0 PD-pass/FF-fail** trajectories. Canonical planning failures with no replay: **162**. Sampled execution penetration occurs in **37/276** tracking cases; maximum depth is **0.00322250 m**. + +## Scope and limitations + +- The accepted pairs are uniform in compiled joint limits conditional on two collision-free endpoints and at least 0.75-rad separation. They are not uniform in Cartesian workspace or representative of a deployment task distribution. +- Wilson intervals describe repeated draws from this declared conditional generator only. The generator, scenes, and robot model remain fixed. +- Direct and RRT collision checks sample joint-space edges at 0.05-rad L2 spacing and use the existing MuJoCo emitted-contact predicate. They do not certify continuous collision avoidance or positive clearance. +- Tracking uses one canonical successful path per accepted query, the nominal plant only, and sampled `dist < 0` execution checks at 2-ms states. Planning failures receive no tracking replay and remain visible in the denominator. +- The goal-bias comparison changes one planner field; it is an ablation, not a comparison with an independent planning implementation. +- There is no randomized plant uncertainty, sensing, localization, grasping, payload, hardware, or sim-to-real evidence in this extension. + +## Reproduce + +```bash +cargo run --release -p arm-lab-demo --bin randomized_eval -- --write +cargo run --release -p arm-lab-demo --bin randomized_eval -- --check +``` + +Raw artifacts retain all 300 accepted queries, every canonical and blocked-query replicate plan, and both controller replays for every successful canonical path. `plan_elapsed_ms` is observational wall time and the only field normalized by `--check`. diff --git a/docs/randomized_eval_tracking.csv b/docs/randomized_eval_tracking.csv new file mode 100644 index 0000000..83c7e50 --- /dev/null +++ b/docs/randomized_eval_tracking.csv @@ -0,0 +1,277 @@ +scene,scene_file,query_index,seed,direct_path_free,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,path_penetration_steps,hold_penetration_steps,max_penetration_m,worst_contact,numeric_pass,full_pass +open_floor,scene.xml,2,202608180020,false,position PD,9085,18.16638457,0.13512689,0.14232900,0.01130982,0.05526729,0.27697293,0.00000000,0,0,0,0.00000000,,false,false +open_floor,scene.xml,2,202608180020,false,PD + velocity FF,9085,18.16638457,0.01706299,0.02106444,0.01091845,0.02191400,1.00000000,0.00011007,0,0,0,0.00000000,,true,true +open_floor,scene.xml,3,202608180030,true,position PD,9042,18.08120459,0.16072584,0.16573014,0.01186357,0.04669469,0.11313530,0.00000000,0,0,0,0.00000000,,false,false +open_floor,scene.xml,3,202608180030,true,PD + velocity FF,9042,18.08120459,0.00798668,0.01084203,0.01097495,0.00708976,0.11348493,0.00000000,0,0,0,0.00000000,,true,true +open_floor,scene.xml,4,202608180040,true,position PD,8744,17.48521554,0.16187769,0.16943958,0.00783724,0.09079007,0.27573238,0.00000000,0,0,0,0.00000000,,false,false +open_floor,scene.xml,4,202608180040,true,PD + velocity FF,8744,17.48521554,0.01642667,0.02204165,0.00846650,0.02228155,0.27573238,0.00000000,0,0,0,0.00000000,,true,true +open_floor,scene.xml,5,202608180050,true,position PD,9818,19.63335792,0.11187258,0.11751728,0.01486107,0.02113001,0.19965490,0.00000000,0,0,0,0.00000000,,false,false +open_floor,scene.xml,5,202608180050,true,PD + velocity FF,9818,19.63335792,0.01011611,0.01588039,0.01536411,0.00808805,0.20056686,0.00000000,0,0,0,0.00000000,,true,true +open_floor,scene.xml,10,202608180100,true,position PD,5397,10.79168014,0.12102836,0.12794794,0.01114118,0.01935986,0.12021379,0.00000000,0,0,0,0.00000000,,false,false +open_floor,scene.xml,10,202608180100,true,PD + velocity FF,5397,10.79168014,0.00912070,0.01159537,0.01133721,0.00367336,0.12264983,0.00000000,0,0,0,0.00000000,,true,true +open_floor,scene.xml,12,202608180120,false,position PD,5513,11.02362116,0.17459006,0.18640323,0.02681019,0.08133844,0.34103019,0.00000000,0,362,0,0.00004229,floor[0]@world vs geom#27[27]@wrist_2_link,false,false +open_floor,scene.xml,12,202608180120,false,PD + velocity FF,5513,11.02362116,0.02080535,0.02655405,0.02646620,0.01971949,0.34188508,0.00000000,0,363,0,0.00003806,floor[0]@world vs geom#27[27]@wrist_2_link,false,false +open_floor,scene.xml,15,202608180150,false,position PD,8264,16.52482857,0.15836884,0.16483527,0.00669082,0.07097212,0.27603948,0.00000000,0,0,0,0.00000000,,false,false +open_floor,scene.xml,15,202608180150,false,PD + velocity FF,8264,16.52482857,0.01757191,0.02183419,0.00712110,0.02233311,0.50824977,0.00000000,0,0,0,0.00000000,,true,true +open_floor,scene.xml,19,202608180190,true,position 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FF,10349,20.69477956,0.01289738,0.02621075,0.00579429,0.02039655,1.00000000,0.00019326,190,80,0,0.00060922,floor[0]@world vs geom#26[26]@wrist_2_link,true,false +offset_pillar,scene_cluttered.xml,24,202608190240,false,position PD,4756,9.50935532,0.14182870,0.15418078,0.00999893,0.03640687,0.57315272,0.00000000,0,91,0,0.00026014,geom#29[29]@wrist_3_link vs pillar[30]@pillar,false,false +offset_pillar,scene_cluttered.xml,24,202608190240,false,PD + velocity FF,4756,9.50935532,0.01177173,0.01705097,0.01061863,0.01136730,1.00000000,0.00042052,0,47,0,0.00025998,geom#29[29]@wrist_3_link vs pillar[30]@pillar,true,false +offset_pillar,scene_cluttered.xml,25,202608190250,true,position PD,2220,4.43737599,0.14184344,0.15709383,0.01339652,0.02545472,0.17528856,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,25,202608190250,true,PD + velocity FF,2220,4.43737599,0.00919087,0.01403435,0.01385451,0.00392711,0.18396732,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,26,202608190260,true,position PD,1533,3.06339146,0.12263059,0.14190248,0.00824071,0.01386358,0.09369223,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,26,202608190260,true,PD + velocity FF,1533,3.06339146,0.00736276,0.00785895,0.00778221,0.00375589,0.09468002,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,27,202608190270,false,position PD,7313,14.62257703,0.14666330,0.15348273,0.00762584,0.03416267,0.21203686,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,27,202608190270,false,PD + velocity FF,7313,14.62257703,0.00924189,0.01589175,0.00776577,0.00682369,0.52056700,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,29,202608190290,false,position PD,6959,13.91586243,0.14862585,0.15597943,0.02295408,0.09187007,0.30556264,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,29,202608190290,false,PD + velocity FF,6959,13.91586243,0.01184852,0.02452281,0.02361554,0.02486074,1.00000000,0.00028740,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,32,202608190320,true,position PD,4564,9.12522508,0.17737317,0.19229073,0.01350727,0.05333351,0.37020457,0.00000000,0,52,250,0.00096913,floor[0]@world vs geom#27[27]@wrist_2_link,false,false +offset_pillar,scene_cluttered.xml,32,202608190320,true,PD + velocity FF,4564,9.12522508,0.01684340,0.02840803,0.00999350,0.02893128,0.37280316,0.00000000,0,178,250,0.00132360,floor[0]@world vs geom#27[27]@wrist_2_link,true,false +offset_pillar,scene_cluttered.xml,34,202608190340,true,position PD,9585,19.16798361,0.12622931,0.13092199,0.01265707,0.03684650,0.26708083,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,34,202608190340,true,PD + velocity FF,9585,19.16798361,0.01805978,0.02158075,0.01241512,0.02183260,0.26708083,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,35,202608190350,true,position PD,7816,15.62874042,0.12108654,0.12820093,0.01426796,0.03027964,0.20835074,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,35,202608190350,true,PD + velocity FF,7816,15.62874042,0.01201135,0.01590793,0.01495715,0.01632684,0.21243621,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,38,202608190380,false,position PD,7135,14.26772908,0.12019704,0.12692505,0.01226310,0.04491255,0.33759881,0.00000000,0,164,0,0.00005862,geom#26[26]@wrist_2_link vs pillar[30]@pillar,false,false +offset_pillar,scene_cluttered.xml,38,202608190380,false,PD + velocity FF,7135,14.26772908,0.01178374,0.01478996,0.01182972,0.01057947,1.00000000,0.00042046,0,169,0,0.00017404,floor[0]@world vs geom#27[27]@wrist_2_link,true,false +offset_pillar,scene_cluttered.xml,39,202608190390,true,position PD,5696,11.38924973,0.12592509,0.13305020,0.00923129,0.03312196,0.17651403,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,39,202608190390,true,PD + velocity FF,5696,11.38924973,0.01049392,0.01415674,0.00912217,0.00501444,0.17884471,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,41,202608190410,false,position PD,8422,16.84020840,0.12137812,0.12687584,0.00864303,0.04183513,0.20080242,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,41,202608190410,false,PD + velocity FF,8422,16.84020840,0.00985772,0.01511824,0.00905751,0.00727505,0.51265129,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,44,202608190440,false,position PD,12428,24.85255032,0.14158331,0.14493384,0.01386971,0.03458154,0.19146843,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,44,202608190440,false,PD + velocity FF,12428,24.85255032,0.00735851,0.01440714,0.01429403,0.00794087,0.78020593,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,48,202608190480,true,position PD,10211,20.41929483,0.13210755,0.13494260,0.01041530,0.01961789,0.15293002,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,48,202608190480,true,PD + velocity FF,10211,20.41929483,0.00913651,0.01161807,0.00996520,0.00489902,0.15392886,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,50,202608190500,false,position PD,9290,18.57662609,0.12775632,0.13566048,0.01971255,0.09257308,0.32537185,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,50,202608190500,false,PD + velocity FF,9290,18.57662609,0.01505946,0.02501255,0.01976307,0.02317556,0.93582979,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,51,202608190510,false,position PD,7468,14.93201636,0.11403649,0.12029122,0.02606044,0.02621983,0.33083727,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,51,202608190510,false,PD + velocity FF,7468,14.93201636,0.02030161,0.02603431,0.02592138,0.02654072,0.65239515,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,52,202608190520,false,position PD,9388,18.77385861,0.15189938,0.15893546,0.02063127,0.03905322,0.26451574,0.00000000,155,116,0,0.00014939,floor[0]@world vs geom#17[17]@forearm_link,false,false +offset_pillar,scene_cluttered.xml,52,202608190520,false,PD + velocity FF,9388,18.77385861,0.01371862,0.02081776,0.02064799,0.01622564,0.84828327,0.00000000,155,66,0,0.00014939,floor[0]@world vs geom#17[17]@forearm_link,false,false +offset_pillar,scene_cluttered.xml,55,202608190550,true,position PD,8862,17.72141571,0.13075080,0.13656997,0.00914002,0.02305422,0.10567166,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,55,202608190550,true,PD + velocity FF,8862,17.72141571,0.00695644,0.01032230,0.01001560,0.00310818,0.10678850,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,61,202608190610,false,position PD,9196,18.38867031,0.14573751,0.15166997,0.00850792,0.06122057,0.33016839,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,61,202608190610,false,PD + velocity FF,9196,18.38867031,0.01681857,0.02489348,0.00764403,0.02015435,0.33372859,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,62,202608190620,true,position PD,8294,16.58429431,0.13776867,0.14218611,0.01088195,0.02560499,0.17720513,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,62,202608190620,true,PD + velocity FF,8294,16.58429431,0.01022345,0.01482081,0.01095591,0.01199455,0.17927630,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,63,202608190630,true,position PD,2572,5.14144024,0.15231219,0.16598417,0.00601865,0.06738461,0.23810215,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,63,202608190630,true,PD + velocity FF,2572,5.14144024,0.01129332,0.01809109,0.00551158,0.01744871,0.24453743,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,64,202608190640,false,position PD,8608,17.21202731,0.14295571,0.14954709,0.02625527,0.08436672,0.34270149,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,64,202608190640,false,PD + velocity FF,8608,17.21202731,0.01510762,0.02690989,0.02645350,0.02548443,1.00000000,0.00011617,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,65,202608190650,true,position PD,7617,15.23028385,0.14184307,0.14590538,0.00719076,0.03682193,0.10924841,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,65,202608190650,true,PD + velocity FF,7617,15.23028385,0.00847778,0.00955133,0.00615448,0.00560913,0.10946558,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,67,202608190670,true,position PD,8364,16.72425389,0.12830490,0.13206589,0.01276477,0.01737178,0.14514779,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,67,202608190670,true,PD + velocity FF,8364,16.72425389,0.00872047,0.01261553,0.01257138,0.00441503,0.14722567,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,70,202608190700,false,position PD,7767,15.53136330,0.13180604,0.14702551,0.02477978,0.09108302,0.34266709,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,70,202608190700,false,PD + velocity FF,7767,15.53136330,0.01393930,0.02643394,0.02559853,0.02122576,1.00000000,0.00038625,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,71,202608190710,true,position PD,9855,19.70644465,0.12646449,0.13166739,0.00637389,0.02268913,0.06026883,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,71,202608190710,true,PD + velocity FF,9855,19.70644465,0.00445482,0.00613345,0.00596582,0.00439558,0.06482562,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,72,202608190720,false,position PD,8566,17.12914480,0.11617212,0.11935798,0.01224649,0.02614790,0.15678229,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,72,202608190720,false,PD + velocity FF,8566,17.12914480,0.00835146,0.01262475,0.01245237,0.00609414,0.59722560,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,76,202608190760,true,position PD,7746,15.48905287,0.12501860,0.13089374,0.01562129,0.02750603,0.46055297,0.00000000,0,13,0,0.00000807,geom#18[18]@forearm_link vs geom#29[29]@wrist_3_link,false,false +offset_pillar,scene_cluttered.xml,76,202608190760,true,PD + velocity FF,7746,15.48905287,0.01392559,0.01507532,0.01513110,0.00658469,0.46135660,0.00000000,0,13,0,0.00000807,geom#18[18]@forearm_link vs geom#29[29]@wrist_3_link,true,false 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FF,5953,11.90389030,0.01086217,0.01765900,0.01690212,0.01132592,1.00000000,0.00016798,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,84,202608190840,true,position PD,3131,6.25961678,0.14831669,0.16009961,0.00744920,0.07411242,0.29048993,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,84,202608190840,true,PD + velocity FF,3131,6.25961678,0.01709695,0.02118245,0.00593715,0.01817196,0.29529834,0.00000000,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,87,202608190870,false,position PD,5801,11.59964879,0.13564998,0.14407169,0.01191771,0.07103757,0.22197638,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,87,202608190870,false,PD + velocity FF,5801,11.59964879,0.01164534,0.01682102,0.01107192,0.01474334,1.00000000,0.00017238,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,88,202608190880,false,position PD,11334,22.66465030,0.15011875,0.15912410,0.01002920,0.06567172,0.30948056,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,88,202608190880,false,PD + velocity FF,11334,22.66465030,0.01453822,0.02425377,0.01090853,0.01941724,1.00000000,0.00017646,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,89,202608190890,false,position PD,8522,17.04116471,0.11179313,0.12010921,0.00770262,0.04747571,0.16531170,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,89,202608190890,false,PD + velocity FF,8522,17.04116471,0.01024161,0.01485433,0.00727974,0.01083194,1.00000000,0.00011734,0,0,0,0.00000000,,true,true +offset_pillar,scene_cluttered.xml,90,202608190900,true,position PD,3913,7.82288178,0.13940202,0.15924091,0.02617451,0.08879765,0.37952636,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,90,202608190900,true,PD + velocity FF,3913,7.82288178,0.01992573,0.02963650,0.02771919,0.02801739,0.39189527,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,93,202608190930,true,position PD,6402,12.80180451,0.12738884,0.13201015,0.02608360,0.05333779,0.34148122,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,93,202608190930,true,PD + velocity FF,6402,12.80180451,0.02057795,0.02659277,0.02622099,0.02342511,0.34438849,0.00000000,0,0,0,0.00000000,,false,false +offset_pillar,scene_cluttered.xml,97,202608190970,false,position PD,11541,23.07897454,0.16283980,0.16975775,0.02593111,0.06892968,0.69370877,0.00000000,0,12,0,0.00013463,geom#27[27]@wrist_2_link vs pillar[30]@pillar,false,false +offset_pillar,scene_cluttered.xml,97,202608190970,false,PD + velocity FF,11541,23.07897454,0.01774686,0.02720948,0.02646434,0.02252823,0.83201171,0.00000000,0,12,0,0.00013463,geom#27[27]@wrist_2_link vs pillar[30]@pillar,false,false 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PD,5009,10.01505791,0.16264193,0.17248600,0.02558561,0.04132946,0.34113678,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,5,202608200050,true,PD + velocity FF,5009,10.01505791,0.01726606,0.02641434,0.02585712,0.02298690,0.34627698,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,6,202608200060,false,position PD,7919,15.83433948,0.13945700,0.16664195,0.00655227,0.06257305,1.00000000,0.00315696,0,71,0,0.00085318,geom#27[27]@wrist_2_link vs pillar[31]@pillar,false,false +tabletop_pillar,scene_pickplace.xml,6,202608200060,false,PD + velocity FF,7919,15.83433948,0.01241193,0.02771580,0.00610196,0.01294898,1.00000000,0.00315696,0,71,0,0.00085318,geom#27[27]@wrist_2_link vs pillar[31]@pillar,true,false +tabletop_pillar,scene_pickplace.xml,7,202608200070,true,position PD,7379,14.75417535,0.13783408,0.14297476,0.00629999,0.05699273,0.10559611,0.00000000,0,0,0,0.00000000,,false,false 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PD,8549,17.09533392,0.19437079,0.20076790,0.00882219,0.04652572,0.11056925,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,13,202608200130,true,PD + velocity FF,8549,17.09533392,0.00681117,0.00922886,0.00857273,0.00820909,0.11348694,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,14,202608200140,false,position PD,8438,16.87393254,0.14663774,0.15497276,0.00949261,0.05522752,0.30970373,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,14,202608200140,false,PD + velocity FF,8438,16.87393254,0.01407766,0.02423329,0.00764817,0.02245600,1.00000000,0.00284428,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,16,202608200160,true,position PD,8144,16.28485329,0.13831115,0.14500620,0.01458854,0.02988542,0.16595134,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,16,202608200160,true,PD + velocity FF,8144,16.28485329,0.00825327,0.01427419,0.01429089,0.01013378,0.16641166,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,17,202608200170,true,position PD,2413,4.82234023,0.10728406,0.11908089,0.02607144,0.04645573,0.32800989,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,17,202608200170,true,PD + velocity FF,2413,4.82234023,0.02328943,0.02562140,0.02578682,0.02451968,0.32945114,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,21,202608200210,true,position PD,1894,3.78444573,0.14879698,0.17194133,0.01890325,0.10500991,0.27806173,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,21,202608200210,true,PD + velocity FF,1894,3.78444573,0.01401085,0.02230346,0.02100102,0.02024004,0.30163588,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,22,202608200220,false,position PD,7520,15.03620370,0.13461826,0.14068819,0.02195842,0.02815301,0.32928780,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,22,202608200220,false,PD + velocity FF,7520,15.03620370,0.02410560,0.02524531,0.02135567,0.02139966,0.62181586,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,25,202608200250,false,position PD,6288,12.57360542,0.13997040,0.14504906,0.00744485,0.03790426,0.13897827,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,25,202608200250,false,PD + velocity FF,6288,12.57360542,0.00966277,0.01254326,0.00648976,0.00886122,0.75826753,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,27,202608200270,false,position PD,10279,20.55462993,0.15204038,0.16055219,0.00623702,0.06325650,0.30352537,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,27,202608200270,false,PD + velocity FF,10279,20.55462993,0.01259175,0.02340326,0.00744171,0.01758902,1.00000000,0.00029186,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,29,202608200290,true,position PD,10113,20.22251021,0.13730961,0.14139209,0.01430436,0.05540757,0.19899949,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,29,202608200290,true,PD + velocity FF,10113,20.22251021,0.01067334,0.01472326,0.01425425,0.00952229,0.20307886,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,32,202608200320,true,position PD,6359,12.71452885,0.11363280,0.11839618,0.02651783,0.02762129,0.34934009,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,32,202608200320,true,PD + velocity FF,6359,12.71452885,0.01873655,0.02720713,0.02681401,0.02781681,0.35325561,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,34,202608200340,true,position PD,3030,6.05741814,0.17515204,0.19046797,0.00603269,0.04234200,0.13880185,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,34,202608200340,true,PD + velocity FF,3030,6.05741814,0.00815248,0.01196117,0.00713957,0.00886819,0.14092038,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,36,202608200360,true,position PD,7804,15.60477400,0.11510851,0.12095415,0.01499231,0.02066701,0.21741193,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,36,202608200360,true,PD + velocity FF,7804,15.60477400,0.01304085,0.01844649,0.01512165,0.01615322,0.21741193,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,39,202608200390,true,position PD,6943,13.88271067,0.14571703,0.15236754,0.01952851,0.05605112,0.25413477,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,39,202608200390,true,PD + velocity FF,6943,13.88271067,0.01325752,0.02033952,0.01979417,0.01444758,0.25551391,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,41,202608200410,false,position PD,9195,18.38641371,0.12304704,0.13485166,0.01050518,0.05857832,0.49723147,0.00000000,0,86,250,0.00105382,floor[0]@world vs geom#29[29]@wrist_3_link,false,false +tabletop_pillar,scene_pickplace.xml,41,202608200410,false,PD + velocity FF,9195,18.38641371,0.01479226,0.02930225,0.00949684,0.02867646,1.00000000,0.00021751,0,220,250,0.00191245,floor[0]@world vs geom#29[29]@wrist_3_link,true,false +tabletop_pillar,scene_pickplace.xml,42,202608200420,false,position PD,9452,18.90077263,0.14803013,0.18290858,0.01334841,0.05057527,1.00000000,0.00899281,0,225,0,0.00076758,geom#22[22]@wrist_1_link vs pillar[31]@pillar,false,false +tabletop_pillar,scene_pickplace.xml,42,202608200420,false,PD + velocity FF,9452,18.90077263,0.01776338,0.07354605,0.01365061,0.03328613,1.00000000,0.00899281,0,225,0,0.00076758,geom#22[22]@wrist_1_link vs pillar[31]@pillar,true,false +tabletop_pillar,scene_pickplace.xml,43,202608200430,false,position PD,5125,10.24637173,0.15939199,0.16642844,0.00465624,0.02032923,0.15176388,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,43,202608200430,false,PD + velocity FF,5125,10.24637173,0.00659341,0.01149159,0.00186775,0.00538016,0.15422177,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,45,202608200450,true,position PD,3753,7.50278012,0.13085404,0.14237876,0.02598994,0.05170526,0.35893625,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,45,202608200450,true,PD + velocity FF,3753,7.50278012,0.01684023,0.02786341,0.02688281,0.02559133,0.36758220,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,46,202608200460,true,position PD,10460,20.91602829,0.11005613,0.11258853,0.02015545,0.01469403,0.26353675,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,46,202608200460,true,PD + velocity FF,10460,20.91602829,0.01124382,0.02022762,0.02014356,0.01684814,0.26583470,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,52,202608200520,false,position PD,6819,13.63480763,0.11615458,0.12497796,0.01089685,0.04994605,0.15715757,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,52,202608200520,false,PD + velocity FF,6819,13.63480763,0.00893835,0.01266701,0.01182797,0.00919701,1.00000000,0.00014665,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,53,202608200530,true,position PD,6823,13.64385723,0.14399663,0.14972506,0.00971889,0.01368458,0.12047777,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,53,202608200530,true,PD + velocity FF,6823,13.64385723,0.00594559,0.00991266,0.00974536,0.00500915,0.12194068,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,55,202608200550,false,position PD,11671,23.33929771,0.12877670,0.13517369,0.01059500,0.06181163,0.27357061,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,55,202608200550,false,PD + velocity FF,11671,23.33929771,0.01081810,0.02022255,0.00970530,0.01338813,1.00000000,0.00017136,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,56,202608200560,true,position PD,3884,7.76517134,0.13736173,0.14656507,0.01221100,0.02714153,0.20368713,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,56,202608200560,true,PD + velocity FF,3884,7.76517134,0.01404877,0.01583603,0.01280059,0.01436995,0.20454880,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,62,202608200620,true,position PD,11369,22.73507284,0.12373750,0.12635491,0.01826355,0.04863856,0.31388961,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,62,202608200620,true,PD + velocity FF,11369,22.73507284,0.02314594,0.02496874,0.01797669,0.02525342,0.31388961,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,65,202608200650,true,position PD,2070,4.13603351,0.15806079,0.17653580,0.00764901,0.04338858,0.14426653,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,65,202608200650,true,PD + velocity FF,2070,4.13603351,0.00760341,0.01102219,0.00848873,0.00903568,0.14804617,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,72,202608200720,true,position PD,3495,6.98777947,0.13604984,0.14544849,0.01373898,0.04147234,0.19025352,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,72,202608200720,true,PD + velocity FF,3495,6.98777947,0.00885429,0.01446574,0.01394291,0.00978070,0.19982620,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,73,202608200730,false,position PD,8953,17.90362658,0.14288783,0.14917525,0.02543268,0.08712767,0.37327743,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,73,202608200730,false,PD + velocity FF,8953,17.90362658,0.01186575,0.02896921,0.02726176,0.02992482,1.00000000,0.00044678,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,76,202608200760,true,position PD,8826,17.64841283,0.13392326,0.13999286,0.00698716,0.03933071,0.33457117,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,76,202608200760,true,PD + velocity FF,8826,17.64841283,0.01556724,0.02543578,0.00698728,0.01816067,0.33742044,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,79,202608200790,true,position PD,5047,10.09083599,0.13804492,0.14708404,0.01679589,0.05703276,0.23316740,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,79,202608200790,true,PD + velocity FF,5047,10.09083599,0.01142557,0.01790546,0.01723736,0.01413665,0.24234794,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,82,202608200820,false,position PD,6397,12.79176246,0.17332717,0.18185884,0.01337453,0.05577613,0.19581578,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,82,202608200820,false,PD + velocity FF,6397,12.79176246,0.01133929,0.01574698,0.01491957,0.01157932,1.00000000,0.00015632,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,84,202608200840,true,position PD,10934,21.86419124,0.14134784,0.15394499,0.01426802,0.09472934,1.00000000,0.00027437,0,20,0,0.00322250,geom#29[29]@wrist_3_link vs pillar[31]@pillar,false,false +tabletop_pillar,scene_pickplace.xml,84,202608200840,true,PD + velocity FF,10934,21.86419124,0.01424085,0.02445281,0.01424662,0.02477882,1.00000000,0.00027437,0,20,0,0.00322223,geom#29[29]@wrist_3_link vs pillar[31]@pillar,true,false +tabletop_pillar,scene_pickplace.xml,85,202608200850,true,position PD,8760,17.51695263,0.14933796,0.15386081,0.02305712,0.07455177,0.29684949,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,85,202608200850,true,PD + velocity FF,8760,17.51695263,0.01614022,0.02351889,0.02322427,0.01857838,0.29810018,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,86,202608200860,false,position PD,7168,14.33210558,0.12914998,0.13698915,0.01482644,0.06244780,0.35037324,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,86,202608200860,false,PD + velocity FF,7168,14.33210558,0.01866703,0.02691045,0.01559236,0.02508299,0.61209950,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,87,202608200870,true,position PD,9175,18.34659572,0.14197270,0.14921060,0.02297111,0.03620957,0.30761314,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,87,202608200870,true,PD + velocity FF,9175,18.34659572,0.01520813,0.02343544,0.02311887,0.01609960,0.31113636,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,88,202608200880,true,position PD,5085,10.16786729,0.16836377,0.17781721,0.00681188,0.02966208,0.26287564,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,88,202608200880,true,PD + velocity FF,5085,10.16786729,0.01644413,0.01978356,0.00733400,0.01521351,0.26287563,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,89,202608200890,true,position PD,5024,10.04458367,0.14699446,0.15713481,0.01835321,0.04965312,0.26409403,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,89,202608200890,true,PD + velocity FF,5024,10.04458367,0.01459329,0.02160816,0.01843565,0.02030895,0.26409403,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,91,202608200910,true,position PD,4946,9.88967225,0.15787433,0.16644009,0.00667071,0.04091030,0.19176195,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,91,202608200910,true,PD + velocity FF,4946,9.88967225,0.01214937,0.01477990,0.00510428,0.00694386,0.19365705,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,93,202608200930,true,position PD,6489,12.97556172,0.13604296,0.14469699,0.01226978,0.02730068,0.16088952,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,93,202608200930,true,PD + velocity FF,6489,12.97556172,0.00887090,0.01390166,0.01340460,0.00585750,0.16342013,0.00000000,0,0,0,0.00000000,,true,true +tabletop_pillar,scene_pickplace.xml,96,202608200960,false,position PD,8335,16.66637816,0.11919285,0.12411542,0.02287614,0.05870843,0.31430760,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,96,202608200960,false,PD + velocity FF,8335,16.66637816,0.01179580,0.02422565,0.02366082,0.01719901,0.97136319,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,98,202608200980,true,position PD,3779,7.55452092,0.12765563,0.13661066,0.02020957,0.02865103,0.25770800,0.00000000,0,0,0,0.00000000,,false,false +tabletop_pillar,scene_pickplace.xml,98,202608200980,true,PD + velocity FF,3779,7.55452092,0.01319229,0.02093693,0.02060902,0.01619799,0.26437448,0.00000000,0,0,0,0.00000000,,false,false