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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e609b4d1a446fd05883666a253028a1bcacd5899 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/resolved_config.yaml @@ -0,0 +1,254 @@ +name: fast_3beaker_preloaded_mix_s03_pol_lou_00019 +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. Pour beaker a into the preloaded + beaker c and return it upright. Place beaker a at home. + layout_id: layout_00019 + reproducibility: + enabled: true + layout_id: layout_00019 + action_seed: 8051752742403627587 + step_seeds: + - 195572404364726227 + - 5833845954193008508 + - 2804561554099721956 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2645 + - 0.2645 + 'y': + - 0.1636 + - 0.1636 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3125 + - 0.3125 + 'y': + - -0.1196 + - -0.1196 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_c + path: /World/beaker_3 + position_range: + x: + - 0.3175 + - 0.3175 + 'y': + - 0.0197 + - 0.0197 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.1421 + - 0.1421 + 'y': + - 0.3919 + - 0.3919 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.1599 + - 0.1599 + 'y': + - -0.4299 + - -0.4299 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + 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: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_c + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_a + target_key: beaker_a_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +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 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a4b7c95eedcdae3d4d099ba33cfdcc51f8b489a1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00019/results/episode_0_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "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": [ + 0.2872713761005478, + 0.17090608435065904, + 1.0022165417491964 + ], + "current_z": 1.0022165417491964, + "required_z": 0.8611066301346026, + "initial_z": 0.7611066301346027, + "lift_margin": 0.14110991161459374, + "gripper_z": 1.004440312888753, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28184394801286283, + 0.1658948069606036, + 1.004440312888753 + ], + "object_minus_gripper": [ + 0.005427428087684982, + 0.005011277390055441, + -0.0022237711395565185 + ], + "object_to_gripper_xy": 0.007387142663240824, + "object_to_gripper_z": -0.0022237711395565185, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2872713761005478, + 0.14616883415613371, + 1.0022165417491964 + ], + "finger_b": [ + 0.2752540795351591, + 0.17090608435065904, + 1.0022165417491964 + ], + "finger_midpoint": [ + 0.28126272781785344, + 0.15853745925339638, + 1.0022165417491964 + ], + "object_minus_finger_midpoint": [ + 0.006008648282694373, + 0.012368625097262664, + 0.0 + ], + "finger_gap": 0.027501762923984457, + "fingertip_max_gap": 0.09114848738243617, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + 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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00021/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00021/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..41204c6bcf284118559a83f7364fb01245745c38 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00021/resolved_config.yaml @@ -0,0 +1,254 @@ +name: fast_3beaker_preloaded_mix_s03_pol_lou_00021 +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. Pour beaker a into the preloaded + beaker c and return it upright. Place beaker a at home. + layout_id: layout_00021 + reproducibility: + enabled: true + layout_id: layout_00021 + action_seed: 4436174054177433429 + step_seeds: + - 541293577389107883 + - 2316932217596112086 + - 8358960574803703126 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2615 + - 0.2615 + 'y': + - 0.0769 + - 0.0769 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3127 + - 0.3127 + 'y': + - -0.1903 + - -0.1903 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_c + path: /World/beaker_3 + position_range: + x: + - 0.3048 + - 0.3048 + 'y': + - -0.0289 + - -0.0289 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.1114 + - 0.1114 + 'y': + - 0.3896 + - 0.3896 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.1788 + - 0.1788 + 'y': + - -0.4147 + - -0.4147 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + 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: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_c + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_a + target_key: beaker_a_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +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 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00021 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00021/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00021/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3e1167e67fcecdae872f36ebdfb5af1315cb0932 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00021/results/episode_0_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "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": [ + 0.29063310307908946, + 0.08485699067552888, + 1.001966984222505 + ], + "current_z": 1.001966984222505, + "required_z": 0.8611065794403797, + "initial_z": 0.7611065794403797, + "lift_margin": 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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00022/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00022/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..876f753477e5d8306233889a632323695a69e8b2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00022/resolved_config.yaml @@ -0,0 +1,254 @@ +name: fast_3beaker_preloaded_mix_s03_pol_lou_00022 +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. Pour beaker a into the preloaded + beaker c and return it upright. Place beaker a at home. + layout_id: layout_00022 + reproducibility: + enabled: true + layout_id: layout_00022 + action_seed: 2714716839106178401 + step_seeds: + - 6879855307333582930 + - 3555770340888182057 + - 838946150517897658 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2888 + - 0.2888 + 'y': + - 0.245 + - 0.245 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3228 + - 0.3228 + 'y': + - -0.2096 + - -0.2096 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_c + path: /World/beaker_3 + position_range: + x: + - 0.2951 + - 0.2951 + 'y': + - -0.0191 + - -0.0191 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.0707 + - 0.0707 + 'y': + - 0.4036 + - 0.4036 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.1594 + - 0.1594 + 'y': + - -0.4257 + - -0.4257 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + 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: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_c + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_a + target_key: beaker_a_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +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 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00022 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00022/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00022/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..209dd47712e6434a3e6556ccd7752a37cf8747d7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00022/results/episode_0_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "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": [ + 0.31235992602395957, + 0.24606687666860239, + 1.0034573928891408 + ], + "current_z": 1.0034573928891408, + "required_z": 0.8611066697495419, + "initial_z": 0.7611066697495419, + "lift_margin": 0.14235072313959896, + "gripper_z": 1.0035192998711993, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3070438270599811, + 0.24123034528579124, + 1.0035192998711993 + ], + "object_minus_gripper": [ + 0.005316098963978444, + 0.004836531382811149, + -6.190698205843503e-05 + ], + "object_to_gripper_xy": 0.007186998261564407, + "object_to_gripper_z": -6.190698205843503e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31235992602395957, + 0.22122078201846482, + 1.0034573928891408 + ], + "finger_b": [ + 0.30083406765561915, + 0.24606687666860239, + 1.0034573928891408 + ], + "finger_midpoint": [ + 0.30659699683978936, + 0.23364382934353362, + 1.0034573928891408 + ], + "object_minus_finger_midpoint": [ + 0.005762929184170207, + 0.01242304732506877, + 0.0 + ], + "finger_gap": 0.027389301387414713, + "fingertip_max_gap": 0.09122472170100174, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + 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+ "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": 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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00023/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00023/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e1a1410aa06077487e72134f2b1876ebbd927dd0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00023/resolved_config.yaml @@ -0,0 +1,254 @@ +name: fast_3beaker_preloaded_mix_s03_pol_lou_00023 +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. Pour beaker a into the preloaded + beaker c and return it upright. Place beaker a at home. + layout_id: layout_00023 + reproducibility: + enabled: true + layout_id: layout_00023 + action_seed: 816907636393322120 + step_seeds: + - 6025886195317364167 + - 912408632159906142 + - 5099940445753200938 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2886 + - 0.2886 + 'y': + - 0.2744 + - 0.2744 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2938 + - 0.2938 + 'y': + - -0.1464 + - -0.1464 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_c + path: /World/beaker_3 + position_range: + x: + - 0.3238 + - 0.3238 + 'y': + - 0.0155 + - 0.0155 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.1493 + - 0.1493 + 'y': + - 0.4039 + - 0.4039 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.126 + - 0.126 + 'y': + - -0.4127 + - -0.4127 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + 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: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_c + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_a + target_key: beaker_a_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +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 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00023 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00023/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00023/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ad489bae62f114d9a4ea3b0823c8985218e031c4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00023/results/episode_0_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "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": [ + 0.313341567529133, + 0.27727727660281715, + 1.0043776810874352 + ], + "current_z": 1.0043776810874352, + "required_z": 0.8611066807290514, + "initial_z": 0.7611066807290514, + "lift_margin": 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"panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": 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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..53ba5058cd02ddfb44cb473606eda3efb85ac4ff --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/resolved_config.yaml @@ -0,0 +1,254 @@ +name: fast_3beaker_preloaded_mix_s03_pol_lou_00024 +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. Pour beaker a into the preloaded + beaker c and return it upright. Place beaker a at home. + layout_id: layout_00024 + reproducibility: + enabled: true + layout_id: layout_00024 + action_seed: 4283508074911090697 + step_seeds: + - 624659677329847726 + - 1272775230356696008 + - 6598834107714139108 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3108 + - 0.3108 + 'y': + - -0.0942 + - -0.0942 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2446 + - 0.2446 + 'y': + - 0.2568 + - 0.2568 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_c + path: /World/beaker_3 + position_range: + x: + - 0.2492 + - 0.2492 + 'y': + - 0.0508 + - 0.0508 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.1522 + - 0.1522 + 'y': + - 0.4006 + - 0.4006 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.1435 + - 0.1435 + 'y': + - -0.4116 + - -0.4116 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + 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: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_c + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_a + target_key: beaker_a_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +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 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_100_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c2bfd1f399920b69cd79319bf9c82a8463d6e3ee --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_100_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "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": [ + 0.33190876594480007, + -0.09637268507383835, + 1.0025950919880473 + ], + "current_z": 1.0025950919880473, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 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"panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": 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