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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00052/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00052/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9e3abe287ef86197dc079ff76596bb991e85061b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00052/resolved_config.yaml @@ -0,0 +1,257 @@ +name: lab3_heat_2beaker_s04_pslr_htb_00052 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a on the heater platform. Press the heater button + to start heating. + layout_id: layout_00052 + reproducibility: + enabled: true + layout_id: layout_00052 + action_seed: 640961815235561317 + step_seeds: + - 7354021964676488884 + - 4140205862878336592 + - 1957863787145667763 + - 8773099147397119028 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1614 + - 0.1614 + 'y': + - -0.1429 + - -0.1429 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.214 + - 0.214 + 'y': + - -0.0248 + - -0.0248 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.34 + - 0.34 + 'y': + - 0.2861 + - 0.2861 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2761 + - 0.2761 + 'y': + - -0.4034 + - -0.4034 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00052 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00052/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00052/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..be80c93a5d8668bb7906638fd0147c362b2c1d2d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00052/results/episode_0_success.json @@ -0,0 +1,926 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18401468409286928, + -0.14650354154335232, + 1.0476187242106652 + ], + "current_z": 1.0476187242106652, + "required_z": 0.8611066760603047, + "initial_z": 0.7611066760603047, + "lift_margin": 0.1865120481503605, + "gripper_z": 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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00053/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00053/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a2e37413f6b70e674a8b184e20a06d10bc55ab82 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00053/resolved_config.yaml @@ -0,0 +1,257 @@ +name: lab3_heat_2beaker_s04_pslr_htb_00053 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a on the heater platform. Press the heater button + to start heating. + layout_id: layout_00053 + reproducibility: + enabled: true + layout_id: layout_00053 + action_seed: 6843919548868063803 + step_seeds: + - 5199353700918230458 + - 1290258848948700541 + - 5893590780811652695 + - 2449246150117278785 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3437 + - 0.3437 + 'y': + - 0.2651 + - 0.2651 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2966 + - 0.2966 + 'y': + - 0.3654 + - 0.3654 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.313 + - 0.313 + 'y': + - 0.0633 + - 0.0633 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2707 + - 0.2707 + 'y': + - -0.3557 + - -0.3557 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00053 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00053/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00053/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b1356888af40f74d81750f7449fe26af167bc7d1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00053/results/episode_0_success.json @@ -0,0 +1,926 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3683819800344976, + 0.274149464941271, + 1.0540563533447829 + ], + "current_z": 1.0540563533447829, + "required_z": 0.8611066618984123, + "initial_z": 0.7611066618984124, + "lift_margin": 0.19294969144637053, + "gripper_z": 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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00054/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00054/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0ffaab9eab8fbe6f852d6b46aea07a55485caf8c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00054/resolved_config.yaml @@ -0,0 +1,257 @@ +name: lab3_heat_2beaker_s04_pslr_htb_00054 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a on the heater platform. Press the heater button + to start heating. + layout_id: layout_00054 + reproducibility: + enabled: true + layout_id: layout_00054 + action_seed: 8865105015247510022 + step_seeds: + - 9092373221738194413 + - 5718852617331806488 + - 5334696411964519894 + - 8360605087653114312 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3167 + - 0.3167 + 'y': + - -0.0592 + - -0.0592 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2183 + - 0.2183 + 'y': + - 0.2672 + - 0.2672 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3565 + - 0.3565 + 'y': + - 0.1659 + - 0.1659 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2181 + - 0.2181 + 'y': + - -0.3554 + - -0.3554 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00054 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00054/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00054/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0393968ae0853722f8aeed75039841c55993815b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00054/results/episode_0_success.json @@ -0,0 +1,926 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34518979702260816, + -0.05228330575666761, + 1.0529039491743726 + ], + "current_z": 1.0529039491743726, + "required_z": 0.8611066259245146, + "initial_z": 0.7611066259245146, + "lift_margin": 0.191797323249858, + "gripper_z": 1.0551690280168058, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3404571485783504, + -0.056851723215035385, + 1.0551690280168058 + ], + "object_minus_gripper": [ + 0.004732648444257748, + 0.0045684174583677725, + -0.0022650788424332102 + ], + "object_to_gripper_xy": 0.006577871948499358, + "object_to_gripper_z": -0.0022650788424332102, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34518979702260816, + -0.0766304927853022, + 1.0529039491743726 + ], + "finger_b": [ + 0.33397800979274317, + -0.05228330575666761, + 1.0529039491743726 + ], + "finger_midpoint": [ + 0.33958390340767564, + -0.06445689927098491, + 1.0529039491743726 + ], + "object_minus_finger_midpoint": [ + 0.005605893614932522, + 0.0121735935143173, + 0.0 + ], + "finger_gap": 0.026804657973849923, + "fingertip_max_gap": 0.09517808919660584, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 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